diff --git a/pcl/CMakeLists.txt b/pcl/CMakeLists.txt
deleted file mode 100644
index 0853d403..00000000
--- a/pcl/CMakeLists.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
-find_package(Eigen REQUIRED)
-include_directories(${Eigen_INCLUDE_DIRS})
-rosbuild_init()
-rosbuild_genmsg()
-
diff --git a/pcl/Makefile b/pcl/Makefile
deleted file mode 100644
index f42463cf..00000000
--- a/pcl/Makefile
+++ /dev/null
@@ -1,57 +0,0 @@
-all: installed
-
-SVN_DIR = build/pcl_1.6.0
-# Developers, please use this URL:
-SVN_URL = http://svn.pointclouds.org/pcl/tags/pcl-1.6.0 # For the very latest version
-
-ifeq ($(strip $(SVN_CMDLINE)),)
-SVN_CMDLINE = svn
-endif
-
-$(SVN_DIR):
-	$(SVN_CMDLINE) co $(SVN_REVISION) $(SVN_URL) $(SVN_DIR)
-ifneq ($(strip $(SVN_PATCH)),)
-	cd $(SVN_DIR) && patch -p0 < ../$(SVN_PATCH)
-endif
-	cd $(SVN_DIR) && \
-  sed -Ei 's/-Wold-style-cast/-Wno-old-style-cast -Wno-unused-parameter -Wno-conversion/g' ./CMakeLists.txt && \
-	sed -Ei 's/${INCLUDE_INSTALL_ROOT}\/pcl/${INCLUDE_INSTALL_ROOT}\/pcl$(PCL_VERSION)/g' ./cmake/pcl_utils.cmake
-
-SVN_UP: $(SVN_DIR)
-	cd $(SVN_DIR) && $(SVN_CMDLINE) up $(SVN_REVISION)
-
-download: $(SVN_UP)
-
-installed: $(SVN_DIR) cleaned
-	mkdir -p msg/build && cd msg/build && cmake ../.. && make && cd -
-	cd $(SVN_DIR) && mkdir -p build && cd build && \
-	rm -rf ../common/include/sensor_msgs ../common/include/std_msgs \
-	../common/include/pcl$(PCL_VERSION)/ModelCoefficients.h ../common/include/pcl$(PCL_VERSION)/PointIndices.h ../common/include/pcl$(PCL_VERSION)/PolygonMesh.h ../common/include/pcl$(PCL_VERSION)/Vertices.h && \
-	export CPATH="`rospack cflags-only-I sensor_msgs`:`rospack cflags-only-I roscpp_serialization`:`rospack cflags-only-I cpp_common`:`rospack cflags-only-I rostime`:`rospack cflags-only-I roscpp_traits`:`rospack cflags-only-I roscpp`:`rospack cflags-only-I rosconsole`:`rospack cflags-only-I std_msgs`:`rospack cflags-only-I sensor_msgs`:`rospack find pcl$(PCL_VERSION)`/msg_gen/cpp/include:$$CPATH" && \
-	export LD_LIBRARY_PATH="`rospack libs-only-L std_msgs`:`rospack libs-only-L sensor_msgs`:`rospack libs-only-L roscpp_serialization`:`rospack libs-only-L cpp_common`:`rospack libs-only-L rostime`:`rospack libs-only-L roscpp_traits`:`rospack libs-only-L roscpp`:`rospack libs-only-L rosconsole`:`rospack libs-only-L std_msgs`:`rospack libs-only-L sensor_msgs`:$$LD_LIBRARY_PATH" && \
-	export LIBRARY_PATH="`rospack libs-only-L std_msgs`:`rospack libs-only-L sensor_msgs`:`rospack libs-only-L roscpp_serialization`:`rospack libs-only-L cpp_common`:`rospack libs-only-L rostime`:`rospack libs-only-L roscpp_traits`:`rospack libs-only-L roscpp`:`rospack libs-only-L rosconsole`:`rospack libs-only-L std_msgs`:`rospack libs-only-L sensor_msgs`:$$LIBRARY_PATH" && \
-	cmake -DCMAKE_INSTALL_PREFIX=`pwd`/../../.. \
-				-DCMAKE_BUILD_TYPE=Release \
-				-DUSE_ROS=ON \
-	-DBUILD_OPENNI=ON \
-	-DBUILD_TESTS=OFF \
-	-DBUILD_apps=OFF \
-	-DBUILD_examples=OFF \
-	-DCMAKE_VERBOSE_MAKEFILE=OFF \
-	.. && \
-	make ${ROS_PARALLEL_JOBS} install
-	touch installed
-
-cleaned: Makefile
-	make clean
-	touch cleaned
-
-clean:
-	-rm -rf $(SVN_DIR)/build rospack_nosubdirs patched installed include bin lib64 msg_gen src *~
-
-wiped: Makefile
-	make wipe
-	touch wiped
-
-wipe: clean
-	rm -rf build cleaned msg/build
diff --git a/pcl/cmake/FindEigen.cmake b/pcl/cmake/FindEigen.cmake
deleted file mode 100644
index 2666481c..00000000
--- a/pcl/cmake/FindEigen.cmake
+++ /dev/null
@@ -1,81 +0,0 @@
-# - Try to find Eigen3 lib
-#
-# This module supports requiring a minimum version, e.g. you can do
-#   find_package(Eigen3 3.1.2)
-# to require version 3.1.2 or newer of Eigen3.
-#
-# Once done this will define
-#
-#  EIGEN_FOUND - system has eigen lib with correct version
-#  EIGEN_INCLUDE_DIR - the eigen include directory
-#  EIGEN_VERSION - eigen version
-
-# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
-# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
-# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
-
-if(NOT Eigen_FIND_VERSION)
-  if(NOT Eigen_FIND_VERSION_MAJOR)
-    set(Eigen_FIND_VERSION_MAJOR 2)
-  endif(NOT Eigen_FIND_VERSION_MAJOR)
-  if(NOT Eigen_FIND_VERSION_MINOR)
-    set(Eigen_FIND_VERSION_MINOR 91)
-  endif(NOT Eigen_FIND_VERSION_MINOR)
-  if(NOT Eigen_FIND_VERSION_PATCH)
-    set(Eigen_FIND_VERSION_PATCH 0)
-  endif(NOT Eigen_FIND_VERSION_PATCH)
-
-  set(Eigen_FIND_VERSION "${Eigen_FIND_VERSION_MAJOR}.${Eigen_FIND_VERSION_MINOR}.${Eigen_FIND_VERSION_PATCH}")
-endif(NOT Eigen_FIND_VERSION)
-
-macro(_eigen3_check_version)
-  file(READ "${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
-
-  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
-  set(EIGEN_WORLD_VERSION "${CMAKE_MATCH_1}")
-  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
-  set(EIGEN_MAJOR_VERSION "${CMAKE_MATCH_1}")
-  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
-  set(EIGEN_MINOR_VERSION "${CMAKE_MATCH_1}")
-
-  set(EIGEN_VERSION ${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION})
-  if(${EIGEN_VERSION} VERSION_LESS ${Eigen_FIND_VERSION})
-    set(EIGEN_VERSION_OK FALSE)
-  else(${EIGEN_VERSION} VERSION_LESS ${Eigen_FIND_VERSION})
-    set(EIGEN_VERSION_OK TRUE)
-  endif(${EIGEN_VERSION} VERSION_LESS ${Eigen_FIND_VERSION})
-
-  if(NOT EIGEN_VERSION_OK)
-
-    message(STATUS "Eigen version ${EIGEN_VERSION} found in ${EIGEN_INCLUDE_DIR}, "
-                   "but at least version ${Eigen_FIND_VERSION} is required")
-  endif(NOT EIGEN_VERSION_OK)
-endmacro(_eigen3_check_version)
-
-if (EIGEN_INCLUDE_DIRS)
-
-  # in cache already
-  _eigen3_check_version()
-  set(EIGEN_FOUND ${EIGEN_VERSION_OK})
-
-else ()
-
-  find_path(EIGEN_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
-      PATHS
-      ${CMAKE_INSTALL_PREFIX}/include
-      ${KDE4_INCLUDE_DIR}
-      PATH_SUFFIXES eigen3 eigen
-    )
-
-  if(EIGEN_INCLUDE_DIR)
-    _eigen3_check_version()
-  endif(EIGEN_INCLUDE_DIR)
-
-  include(FindPackageHandleStandardArgs)
-  find_package_handle_standard_args(Eigen DEFAULT_MSG EIGEN_INCLUDE_DIR EIGEN_VERSION_OK)
-
-  mark_as_advanced(EIGEN_INCLUDE_DIR)
-  SET(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR} CACHE PATH "The Eigen include path.")
-
-endif()
diff --git a/pcl/manifest.xml b/pcl/manifest.xml
deleted file mode 100644
index 1f1ea64d..00000000
--- a/pcl/manifest.xml
+++ /dev/null
@@ -1,33 +0,0 @@
-<package>
-  <description brief="PCL (Point Cloud Library)">
-
-<p>
-  <b>PCL</b> - <b>P</b>oint <b>C</b>loud <b>L</b>ibrary: a comprehensive open
-  source library for <b>n-D Point Clouds</b> and <b>3D geometry processing</b>.
-  The library contains numerous state-of-the art algorithms for: filtering,
-  feature estimation, surface reconstruction, registration, model fitting and
-  segmentation, etc.  
-</p>
-
-  </description>
-
-  <author>See http://pcl.ros.org/authors for the complete list of authors.</author>
-  <license>BSD</license>
-  <url>http://pointclouds.org</url>
-  <review status="3rdparty" notes=""/>
-
-  <!-- Message type dependencies -->
-  <depend package="std_msgs" />
-  <depend package="sensor_msgs" />
-
-  <rosdep name="libqhull" />
-  <rosdep name="libvtk" />
-  <rosdep name="libvtk-qt" />
-  <rosdep name="cmake"/>
-  <rosdep name="boost"/>
-  
-  <export>
-     <cpp cflags="-I${prefix}/include/pcl-1.6/" lflags="-Wl,-rpath,${prefix}/lib64 -L${prefix}/lib64 -Wl,-rpath,${prefix}/lib -L${prefix}/lib ${prefix}/lib/libpcl_common.so.1.6.0 ${prefix}/lib/libpcl_filters.so.1.6.0 ${prefix}/lib/libpcl_features.so.1.6.0 ${prefix}/lib/libpcl_io.so.1.6.0 ${prefix}/lib/libpcl_surface.so.1.6.0 ${prefix}/lib/libpcl_registration.so.1.6.0 ${prefix}/lib/libpcl_sample_consensus.so.1.6.0 ${prefix}/lib/libpcl_kdtree.so.1.6.0 ${prefix}/lib/libpcl_segmentation.so.1.6.0 ${prefix}/lib/libpcl_keypoints.so.1.6.0 ${prefix}/lib/libpcl_visualization.so.1.6.0 ${prefix}/lib/libpcl_octree.so.1.6.0 ${prefix}/lib/libpcl_search.so.1.6.0" />
-    <rosdoc external="http://docs.pointclouds.org/"/>
-  </export>
-</package>
diff --git a/pcl/msg/ModelCoefficients.msg b/pcl/msg/ModelCoefficients.msg
deleted file mode 100644
index 8d3f9b89..00000000
--- a/pcl/msg/ModelCoefficients.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-Header header
-float32[] values
-
diff --git a/pcl/msg/PointIndices.msg b/pcl/msg/PointIndices.msg
deleted file mode 100644
index 007c2900..00000000
--- a/pcl/msg/PointIndices.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-Header header
-int32[] indices
-
diff --git a/pcl/msg/PolygonMesh.msg b/pcl/msg/PolygonMesh.msg
deleted file mode 100644
index 8eeb5a4c..00000000
--- a/pcl/msg/PolygonMesh.msg
+++ /dev/null
@@ -1,6 +0,0 @@
-# Separate header for the polygonal surface
-Header header
-# Vertices of the mesh as a point cloud
-sensor_msgs/PointCloud2 cloud
-# List of polygons
-Vertices[] polygons
diff --git a/pcl/msg/Vertices.msg b/pcl/msg/Vertices.msg
deleted file mode 100644
index 6b7c72a0..00000000
--- a/pcl/msg/Vertices.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-# List of point indices
-uint32[] vertices