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catkin_create_pkg does not take non-catkin packages as arguments by default, you must pass them as parameters to the --sys-deps argument. PCL is not a catkin package it is a system dependency on par with Boost and other external dependencies.

You can, however, depend on pcl_ros which pulls in PCL as a transitive dependency.

Otherwise, you will need to depend on PCL like this:

find_package(PCL REQUIRED)
...
include_directories(${PCL_INCLUDE_DIRS})
...
link_directories(${PCL_LIBRARY_DIRS})
....
target_link_libraries(YOUR_TARGET ${PCL_LIBRARIES})

The pcl_ros package's CMakeLists.txt is a good example of this:

https://github.com/ros-perception/perception_pcl/blob/hydro-devel/pcl_ros/CMakeLists.txt