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I kind of figured it out but the answer doesn't make any sense. I removed PCL in the find_package() line and it worked. I think this is because it is installed locally and the linking is covered by ros_pcl and the includes are on the standard path: /usr/include.

But if I keep PCL on find_package() line - shouldn't it still be fine? I don't know, I think there is still a canonical answer waiting out there. Let me know if someone has an idea.