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You are correct that ros-electric-perception-pcl does contain the pcl_ros package with the bag_to_pcd tool. What you are doing should work.

Since it does not, there is probably some simple mis-configuration. Please check your /etc/apt/sources.list.d/ros-latest.list, and make sure it contains "deb http://packages.ros.org/ros/ubuntu lucid main". Then, check all the other steps in the Ubuntu install instructions.

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