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I was able to install and use a modified version of pcl 1.1.1 (I think this is the ROS electric version). I using electric on lucid.

Checkout pcl 1.1.1

svn co http://svn.pointclouds.org/pcl/tags/pcl-1.1.1 ~/pcl_1_1_1_svn

Use ccmake to change USE_ROS to "ON" and the install directory to your ROS pcl package folder. I created a copy of the perception_pcl package and pointed cmake to the ROS pcl package in it.

cd ~/pcl_1_1_1_svn
ccmake .

Make your changes to the code and then compile and install.

make
make install

I got some compile errors complaining about missing dependencies for test_common.cpp. Adding the following to <pcl_root>/common/test/CMakeLists.txt fixed it.

link_ros_libs (test_common)

Finally, recompile the ROS pcl package and all the packages that depend on it.