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PCL is a library, so it doesn't have many fully working demos that are very advanced (demos are best kept simple, so the code is understandable). There are several other real 3D slam packages -- for instance CCNY's code ( or RGBD_SLAM (a couple others are listed on blog post I made a while back:

However --- it appears you are in simulation -- and most of these packages use 2d-like features (things that would probably depend on actual, real texture being in the images received) and will probably not work in Gazebo.