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In ROS Hydro, all ROS messages were removed from PCL. This requires that code be updated to use pcl_conversions, see the migration guide for details: http://wiki.ros.org/hydro/Migration#PCL

You might check if there is a version already updated for Hydro, or if you are using the Turtlebot, check out the replacement depthimage_to_laserscan which offers significantly better performance

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