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If you'd like to use PCL versions greater than 1.5.1 on Fuerte, take a look at the ros-fuerte-perception-pcl-fuerte-unstable package; that provides 1.6.0.

If you need an even-newer version, take a look at the source for that package. There's a branch that's closer to the current trunk revision. The Makefile makes it clear how to bump that value to something even closer to trunk.

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