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You really don't want to use standalone PCL inside ROS, as you can quickly run into issues since standalone PCL carries it's own copies of several ROS messages. If you can live with those features found in PCL 1.1 (minus the KinectGrabber), you should use the version of PCL found within the ROS Electric release (by depending on the ROS package "pcl").
If you need some feature found in PCL trunk, there may not be a very clean way to use it within ROS currently.
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