Hi, I just installed ros unstable from the ubuntu repository (ubuntu 10.10, 64) and point_cloud_converter seems to be missing from the pcl_perception stack: /opt/ros/unstable/stacks/perception_pcl > ls CMakeLists.txt cminpack flann Makefile pcl pcl_ros rosdep.yaml stack.xml Is it expected? Cheers, Ugo -- Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com Software Engineer | 251 Liverpool Road | need a Hand? | London N1 1LX | +44 20 7700 2487 http://www.shadowrobot.com/hand/ @shadowrobot