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Samurai is not a commonly used distro to run ROS, there will likely be several problems getting things to compile.

For pcl your error is: /usr/local/opt/ros/geometry/eigen/include/Eigen/src/StlSupport/details.h:41:13: error: ‘ptrdiff_t’ does not name a type

Likely you're missing a system dependency which defines this type. For more help with the kdl problems we will need things like what version you are installing and how you installed it.