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Well, from the error messages it looks like the targets in pcl_msgs are conflicting with your custom package pcl2_to_scan. Which leads me to believe that you have not only pcl_ros, but the whole perception_pcl stack inside your workspace.

If you need to modify and overlay some part of pcl_ros:

• clean your build folders (rm -rf build devel)
• install ros-hydro-perception-pcl so that all the dependencies are met
• clone https://github.com/ros-perception/perception_pcl to your workspace, you can get rid of the perception_pcl metapackage.
• try to build the workspace with only pcl_ros inside of it, remove all your custom code for now.
• once that builds successfully, and it should, try roscd pcl_ros to make sure that rospack is using the overlay instead of the system installation
• track down the naming conflict in pcl2_to_scan CMakeLists.txt

Well, from the error messages it looks like the targets in your custom package pcl_msgspcl2_to_scan are conflicting with your custom package pcl2_to_scanpcl_msgs. Which leads me to believe that you have not only pcl_ros, but the whole perception_pcl stack inside your workspace.

If you need to modify and overlay some part of pcl_ros:

• clean your build folders (rm -rf build devel)
• install ros-hydro-perception-pcl so that all the dependencies are met
• clone https://github.com/ros-perception/perception_pcl to your workspace, you can get rid of the perception_pcl metapackage.
• try to build the workspace with only pcl_ros inside of it, remove all your custom code for now.
• once that builds successfully, and it should, try roscd pcl_ros to make sure that rospack is using the overlay instead of the system installation
• track down the naming conflict in pcl2_to_scan CMakeLists.txt