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If you want to install ROS Groovy on Arch Linux, the easiest way is to use AUR packages.
There is something that you need to realize: packaging ROS Groovy under Arch Linux can get quite complicated since it's a rolling release and Groovy is already outdated. This is especially true for complex libraries such as PCL or Gazebo that pull tons of dependencies.
Most of the packages are made/maintained by two people (zootboy and I), which is why it's not foolproof, so feedback is always welcome. If a problem happens when installing packages, try to contact the maintainers (you can leave a message on the related AUR package page).
As for collada-dom, PCL, opencv, collada_parser or collada_urdf, official packages and/or AUR packages exist.
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