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Thanks all for your help!!..I just tried to use add_dependencies(), it was exactely my problem...it worked for most of the problems..but i think i can do it....

so back to the 2nd issus:

I don't even know what met i use in the manifest.xml files.. <depend package="pcl_conversions"/>? or <depend package="pcl"/>? if i use pcl, the system can't find the pcl path..

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