perception_pcl added

no other important changes

ros/src/perception_pcl/README.md

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+# perception_pcl
+
+[![Build Status](https://travis-ci.org/ros-perception/perception_pcl.svg?branch=melodic-devel)](https://travis-ci.org/ros-perception/perception_pcl)
+
+PCL (Point Cloud Library) ROS interface stack. PCL-ROS is the preferred
+bridge for 3D applications involving n-D Point Clouds and 3D geometry
+processing in ROS.

ros/src/perception_pcl/pcl_conversions/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package pcl_conversions
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.6.2 (2018-05-20)
+------------------
+
+1.6.1 (2018-05-08)
+------------------
+* Add 1.6.0 section to CHANGELOG.rst
+* Use foreach + string regex to implement list(filter on old cmake
+* Downgrade the required cmake version for backward compatibility
+* update package.xml links to point to new repository
+* CMake 3.6.3 is sufficient
+* Fix a bug building on artful.
+* Fixup pcl_conversions test
+* Contributors: Chris Lalancette, Kentaro Wada, Mikael Arguedas, Paul Bovbel
+
+1.6.0 (2018-04-30)
+------------------
+
+* Fix build and update maintainers
+* Contributors: Paul Bovbel, Kentaro Wada
+
+0.2.1 (2015-06-08)
+------------------
+* Added a test for rounding errors in stamp conversion
+  for some values the test fails.
+* add pcl::PointCloud to Image msg converter for extracting the rgb component of a cloud
+* Contributors: Brice Rebsamen, Lucid One, Michael Ferguson, Paul Bovbel
+
+0.2.0 (2014-04-10)
+------------------
+* Added conversions for stamp types
+* update maintainer info, add eigen dependency
+* fix Eigen dependency
+* Make pcl_conversions run_depend on libpcl-all-dev
+* Contributors: Brice Rebsamen, Paul Bovbel, Scott K Logan, William Woodall
+
+0.1.5 (2013-08-27)
+------------------
+* Use new pcl rosdep keys (libpcl-all and libpcl-all-dev)
+
+0.1.4 (2013-07-13)
+------------------
+* Fixup dependencies and CMakeLists.txt:
+
+  * Added a versioned dependency on pcl, fixes `#1 <https://github.com/ros-perception/pcl_conversions/issues/1>`_
+  * Added a dependency on pcl_msgs, fixes `#2 <https://github.com/ros-perception/pcl_conversions/issues/2>`_
+  * Wrapped the test target in a CATKIN_ENABLE_TESTING check
+
+0.1.3 (2013-07-13)
+------------------
+* Add missing dependency on roscpp
+* Fixup tests and pcl usage in CMakeList.txt
+
+0.1.2 (2013-07-12)
+------------------
+* small fix for conversion functions
+
+0.1.1 (2013-07-10)
+------------------
+* Fix find_package bug with pcl
+
+0.1.0 (2013-07-09 21:49:26 -0700)
+---------------------------------
+- Initial release
+- This package is designed to allow users to more easily convert between pcl-1.7+ types and ROS message types

ros/src/perception_pcl/pcl_conversions/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8)
+project(pcl_conversions)
+
+find_package(catkin REQUIRED COMPONENTS)
+
+find_package(PCL REQUIRED COMPONENTS common io)
+find_package(Eigen3 REQUIRED)
+
+# There is a bug in the Ubuntu Artful (17.10) version of the VTK package,
+# where it includes /usr/include/*-linux-gnu/freetype2 in the include
+# directories (which doesn't exist).  This filters down to the PCL_INCLUDE_DIRS,
+# and causes downstream projects trying to use these libraries to fail to
+# configure properly.  Here we remove those bogus entries so that downstream
+# consumers of this package succeed.
+if(NOT "${PCL_INCLUDE_DIRS}" STREQUAL "")
+  foreach(item ${PCL_INCLUDE_DIRS})
+    string(REGEX MATCH "/usr/include/.*-linux-gnu/freetype2" item ${item})
+    if(item)
+      list(REMOVE_ITEM PCL_INCLUDE_DIRS ${item})
+    endif()
+  endforeach()
+endif()
+
+catkin_package(
+  INCLUDE_DIRS include
+  CATKIN_DEPENDS pcl_msgs roscpp sensor_msgs std_msgs
+  DEPENDS EIGEN3 PCL
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(catkin REQUIRED COMPONENTS roscpp pcl_msgs sensor_msgs std_msgs)
+  include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIRS})
+
+  catkin_add_gtest(test_pcl_conversions test/test_pcl_conversions.cpp)
+  target_link_libraries(test_pcl_conversions ${catkin_LIBRARIES})
+endif()

ros/src/perception_pcl/pcl_conversions/README.rst

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+pcl_conversions
+===============
+
+This package provides conversions from PCL data types and ROS message types.
+
+
+Code & tickets
+--------------
+
+.. Build status: |Build Status|
+
+.. .. |Build Status| image:: https://secure.travis-ci.org/ros-perception/pcl_conversions.png
+   :target: http://travis-ci.org/ros-perception/pcl_conversions
+
++-----------------+------------------------------------------------------------+
+| pcl_conversions | http://ros.org/wiki/pcl_conversions                        |
++-----------------+------------------------------------------------------------+
+| Issues          | http://github.com/ros-perception/perception_pcl/issues    |
++-----------------+------------------------------------------------------------+
+.. | Documentation   | http://ros-perception.github.com/pcl_conversions/doc       |
+.. +-----------------+------------------------------------------------------------+
+