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Unfortunately, we haven't migrated away from PCL yet in the ROS navigation stack (there are open issues/pull requests around it, such as https://github.com/ros-planning/navigation/issues/264).

If you're feeling ambitious, there is a massive PR here: https://github.com/ros-planning/navigation/pull/458 that migrates kinetic-devel branch away from PCL, using the iterators. We've never gotten around to fully testing it. I am targeting to actually test/merge that for Melodic over the next several weeks, because it's way overdue.

Edit: ROS Melodic includes a PCL-free version of the ROS navigation stack!

Original Answer: Unfortunately, we haven't migrated away from PCL yet in the ROS navigation stack (there are open issues/pull requests around it, such as https://github.com/ros-planning/navigation/issues/264).

If you're feeling ambitious, there is a massive PR here: https://github.com/ros-planning/navigation/pull/458 that migrates kinetic-devel branch away from PCL, using the iterators. We've never gotten around to fully testing it. I am targeting to actually test/merge that for Melodic over the next several weeks, because it's way overdue.