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1. Please ensure you have installed the ROS Galactic completely. I simply go with sudo apt install ros-galactic-desktop
2. Make sure you are using the galactic branch of the repository.

I am able to compile it peacefully. Please see the steps below:

ravi@dell:~/ros2_ws$ cd src/
ravi@dell:~/ros2_ws/src$ source /opt/ros/galactic/setup.bash
ravi@dell:~/ros2_ws/src$ git clone --branch galactic https://github.com/ros-perception/pointcloud_to_laserscan.git
Cloning into 'pointcloud_to_laserscan'...
remote: Enumerating objects: 189, done.
remote: Counting objects: 100% (64/64), done.
remote: Compressing objects: 100% (34/34), done.
remote: Total 189 (delta 38), reused 36 (delta 30), pack-reused 125
Receiving objects: 100% (189/189), 49.20 KiB | 1.02 MiB/s, done.
Resolving deltas: 100% (102/102), done.
ravi@dell:~/ros2_ws/src$ cd ..
ravi@dell:~/ros2_ws$ colcon build
Starting >>> pointcloud_to_laserscan
Finished <<< pointcloud_to_laserscan [10.1s]                      

Summary: 1 package finished [10.4s]