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Partial revert of merge from 'feat/MoveToModernCMake', which prevents using ROS (using PCL 1.8).

Nicolas Cadart requested to merge fix/RevertCMakeWithPCL1.8 into master

Previous merge from 'feat/MoveToModernCMake' used PCL 1.9, which is incompatible with ROS (which comes with PCL 1.8).

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