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I think you didn't install PCL on your raspberry pi and thus pcl_conversion doesn't compile.
You will need to install it but I'm not sure if there is a version of PCL in the repo for Debian and if you compile from source, it might take a while. Here I show how to install a version of ROS on the raspberry that is not the bare bone version (like in your tutorial) and it wasn't so easy. There is some dependencies that I couldn't resolve so I had to remove some packages from the install.
You could try that and remove pcl_conversion, hoping that it won't break anything else. Something like :
wstool rm pcl_conversion
rm -rf pcl_conversion
But you won't be able to use pcl in ROS if you do that.
To be honest, I don't think perception is going to be that useful on a raspberry pi. The link I gave earlier show how to install OpenCV and Openni as well if needed.
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