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I ran into this same issue. I used apt-get to install libpcl-dev, libvtk6.2 and libproj-dev. Then, I followed the hacky symbolic linking trick mentioned here: https://askubuntu.com/questions/979146/what-is-the-package-to-install-full-pcl-with-aptitude-and-does-prerequisites-com and was able to compile the package. The code for creating the symbolic link is shown below:

ln -s /usr/lib/x86_64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/libvtkproj4.so

If/when this doesn't work during runtime, I plan to build the pcl_ros without using rosinstall, but directly from source. You can augment the CMakeLists.txt to not use any of vtk packages as shown on the ros-perception github.