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Hi, You should give a try to roboearth: http://www.ros.org/wiki/roboearth

One of the tutorials (and there are only two) is exactly about recording and creating models. It is straightforward. In addition, roboearth uses pcl extensively in creating models. While you explore this, also think about adding new models to roboearth database (which is also explained in the same tutorial). Hopefully this helps.