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The error you get is because the pcl library in Hydro is standalone and it isn't anymore a ros package. So you have to comment the corresponding line in the manifest
<!--<depend package="pcl"/>-->
What you should do is to install the pcl library 1.7 and then use the pcl_conversions package of ros to convert Pointcloud2 headers from pcl type to ros msg and vice-versa where needed, as explained here.