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Hey there i followed the guide from https://github.com/felixendres/rgbdslam_v2/wiki/Instructions-for-Compiling-Rgbdslam-(V2)-on-a-Fresh-Ubuntu-16.04-Install-(Ros-Kinetic)-in-Virtualbox steps 11-16 seem to fix it so you got to rebuild rgbdslam with pcl 1.8

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