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Hi there Stef, regarding you question, what do you want to implement? Do you need a planner? You don't need PCL to use the navigation packages if you build it yourself, but to do so you need to define what you want from the navigation package, do you want planning? If you do just go into the repository and use one of the planners like:

• Carrot planner (this is mentioned in the tutorials)
• Local planner
• Others ...

and many others. Usually, the planner will just take the occupancy grid, the costmap2D and the odometry of the robot. What PCL will do is build the occupancy grid of the environment.

If you want to build the navigation package yourself just download the repository, edit the CMakeList and the package.xml to edit out the PCL but make sure to remove the packages where it's being used!

All the best!!!