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This and this answers may help.

This and this answers may help.

This and this answers may help.

This and this answers may help.

EDIT: Just tried it myself and it seems to work.

In your case it might be 'simplier' since you are already building everything from source.

Nevertheless here are the steps to reproduce it with Groovy on Ubuntu. In my case there are existing catkin workspace (~/catkin_ws) and rosbuild overlays (~/rosbuild) ~/rosbuild_ws, on top of it. catkin) overlays. Since catkin cannot overlay rosbuild (to the best of my knowledge) we have to underlay new workspace to the ~/catkin_ws.

1. Create a separate workspace for perception_pcl:

   # Source the root workspace
   # The path is correct for Ubuntu and may differ for other distributions
   $ source /opt/ros/groovy/setup.bash
   
   # Create catkin overlay
   $ mkdir -p ~/pcl_ws/src && cd ~/pcl_ws/src
   

2. Clone perception_pcl and checkout groovy-unstable-devel branch

   $ git clone -b groovy-unstable https://github.com/ros-perception/perception_pcl.git
   

3. Build the workspace

   $ cd .. && catkin_make_isolated
   

4. Source it

   $ source ~/pcl_ws/devel_isolated/setup.bash
   

5. Now we have to overlay old ~/catkin_ws on ~/pcl_ws

   $ cd ~/catkin_ws
   
   # Delete old build directories
   $ rm -rf build devel
   
   # Re-create workspace
   $ catkin_make
   

6. Finally, source rosbuild workspace

   $ source ~/rosbuild_ws/setup.bash
   

This and this answers may help.

EDIT: Just tried it myself and it seems to work.

In your case it might be 'simplier' since you are already building everything from source.

Nevertheless here are the steps to reproduce it with Groovy on Ubuntu. In my case there are existing catkin (~/catkin_ws) and rosbuild (~/rosbuild_ws, on top of catkin) overlays. Since catkin cannot overlay rosbuild (to the best of my knowledge) we have to underlay new workspace to the ~/catkin_ws.

1. Create a separate workspace for perception_pcl:

   # Source the root workspace
   # The path is correct for Ubuntu and may differ for other distributions
   $ source /opt/ros/groovy/setup.bash
   
   # Create catkin overlay
   $ mkdir -p ~/pcl_ws/src && cd ~/pcl_ws/src
   

2. Clone perception_pcl and checkout groovy-unstable-devel branch

   $ git clone -b groovy-unstable groovy-unstable-devel https://github.com/ros-perception/perception_pcl.git
   

3. Build the workspace

   $ cd .. && catkin_make_isolated
   

4. Source it

   $ source ~/pcl_ws/devel_isolated/setup.bash
   

5. Now we have to overlay old ~/catkin_ws on ~/pcl_ws

   $ cd ~/catkin_ws
   
   # Delete old build directories
   $ rm -rf build devel
   
   # Re-create workspace
   $ catkin_make
   

6. Finally, source rosbuild workspace

   $ source ~/rosbuild_ws/setup.bash