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There is no compiled version of PCL for ARM; you'll have to build it yourself.

Building PCL from source is tricky and incredibly time-consuming; you may want to seek guidance from other ARM users who have done the same thing. At the very least, make sure the parallelism level is turned down (look for -j options to make and/or ros parallel build cmake variables). This will help limit the amount of memory used during the compile process.

This has been a problem for some months because the older versions of the PCL sourcedebs didn't build on Precise for ARM. I think it's been fixed since then, but my farm is out of date after the rosdistro update and needs some serious work before it will build debs again.