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In hydro you need to use the new pcl rosep rules (libpcl-all and libpcl-all-dev). Since that package already depends on pcl_ros it is probably easiest to just remove a direct dependency on pcl, in these three places:

https://github.com/turtlebot/turtlebot_arm/blob/groovy-devel/turtlebot_block_manipulation/package.xml#L19

https://github.com/turtlebot/turtlebot_arm/blob/groovy-devel/turtlebot_block_manipulation/package.xml#L27

https://github.com/turtlebot/turtlebot_arm/blob/groovy-devel/turtlebot_block_manipulation/CMakeLists.txt#L5

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