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Open "rgbdslam_freiburg/rgbdslam/manifest.xml", look for the line

<depend package="pcl"/>

and replace into

 <depend package="pcl_conversions"/>

The interwebz said that this is due to a fact that pcl used to be a ros package but then went independent (viva la independence) and requirement to it becomes wrong. Solved the problem for me though

P.$. after doing this you may still have problem for missing dependency for octomap or libg2o etc. but don't panic, just manually install accordingly and you'll get pass the step.