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I just ran into the same issue, after installing the perception variant of ROS on a Raspberry PI 2.

Does anyone have or know of any good instructions on installing PCL on the RPI2 ?

I found this: http://rpi-hacks.blogspot.com/2013/08/pcl-compilation.html however this is probably for the first generation RPI, where cross compilation is way to circumvent the limited RAM issue. So I was wondering if anyone had already attempted to build PCL on the RPI2 - is there enough RAM on the RPI2 to compile PCL natively? Any other caveats?

Much appreciated

G

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