rgbdslam freiburg hydro

edit

I am editing my problem and leaving previous versions- I know this post looks very large now but if somebody will have same problem in futer maby he can track down some of my mistakes and use them.

I'm using ubuntu 12.04 ROS hydro medusa

From several days I'm trying to use some how rgbdslam but I get several errors. I tried to do what is written here: http://answers.ros.org/question/91111/rgbdslam-in-ros-hydro/

but after executing: rosdep install rgbdslam_freiburg

I receive this error:

ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies: rgbdslam: Missing resource pcl

ROS path [0]=/opt/ros/hydro/share/ros

ROS path [1]=/home/wilk/catkin_ws/src

ROS path [2]=/opt/ros/hydro/share

ROS path [3]=/opt/ros/hydro/stacks

Does it means that there is no pcl library provided with my ros installation or that I should made conversions from older pcl library as it worked for somebody here: http://answers.ros.org/question/74899/rosmake-rgbdslam_freiburg-error-in-groovy/

I read also this but I don't know if I should also make it: http://www.pcl-users.org/How-do-I-use-PCL-from-ROS-Hydro-td4029613.html

Could any one be as kind to tell me what I should do? or even which commands should I use in terminal. I would also d'like to know if making those conversations will solve the problem, if there is any one who can share it. I really don't like the idea of manually changing code without knowing if it will help.

Edit1: Is it possible to use rosbuild and catkin workspaces simultaniously? Despite trying to use code writen for older version of ROS I'm trying to convert it too catkin_ws too. There are only a few files that need to be changed so I will pase them here. Please help.

I receave fallowing error:

CMake Error at rgbdslam_freiburg/rgbdslam/CMakeLists.txt:240 (add_executable):
  add_executable cannot create target "rgbdslam" because another target with
  the same name already exists.  The existing target is a shared library
  created in source directory
  "/home/wilk/catkin_ws/src/rgbdslam_freiburg/rgbdslam".  See documentation
  for policy CMP0002 for more details.

My files looks like that: CMakeLists.txt

# Catkin User Guide: <a href="http://www.ros.org/doc/groovy/api/catkin/html/user_guide/user_guide.html">http://www.ros.org/doc/groovy/api/catkin/html/user_guide/user_guide.html</a>
# Catkin CMake Standard: <a href="http://www.ros.org/doc/groovy/api/catkin/html/user_guide/standards.html">http://www.ros.org/doc/groovy/api/catkin/html/user_guide/standards.html</a> cmake_minimum_required(VERSION 2.8.3) project(rgbdslam)
# Load catkin and all dependencies required for this package
# TODO: remove all from COMPONENTS that are not catkin packages. find_package(catkin REQUIRED COMPONENTS tf pcl_conversions rospy roscpp rosbag cv_bridge sensor_msgs octomap_server octomap_ros geometry_msgs visualization_msgs eigen)

# include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})#########################################################
### CONFIG ##############################################
#########################################################
# 1, if SiftGPU should be used. For additional information
# see README set(USE_SIFT_GPU        0) set(ENV{SIFT_GPU_MODE}      2) #CUDA = 1, GLSL = 2 set(ENV{SIFT_GPU_CUDA_PATH}  /usr/local ...