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Currently a ROS installation looks like a source based install, just that it resides in system wide paths (e.g. /opt/ros/electric). Installation packages are usually on a per-stack basis. The reason for compiling software like pcl might be that ROS is using another version then the system install.

That being said, please have a look at REP 122 ff as the installation layout will change dramatically for fuerte looking more like a "normal" system package.

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