Remove PCL dependency

[reinzor]

Hi,

Would you accept a PR where we remove the dependency on PCL ([1], [2])? When I install this package on a clean ros:noetic-ros-base image, it tries to install 2260 MB and I figured out it is due to the PCL dependencies.

As far as I can see, PCL is only used here for converting the pointcloud2 message to a c++ structure we can work with but this can also be done using the PointCloud2Iterator in the sensor_msgs package.

What do you think?

[reinzor]

I see you already implemented a workaround for this in the ros2 branch. However, in order to sync the ros1 / ros2 branches, I also created a PR for ros2 for removing the PCL deps.

[SteveMacenski]

Sounds good to me, I have no issue with that.