diff --git a/meta-ros-common/recipes-extended/pcl/pcl/0001-Dereference-shared_ptr-fix-for-GCC8.patch b/meta-ros-common/recipes-extended/pcl/pcl/0001-Dereference-shared_ptr-fix-for-GCC8.patch
deleted file mode 100644
index 78675f0784a..00000000000
--- a/meta-ros-common/recipes-extended/pcl/pcl/0001-Dereference-shared_ptr-fix-for-GCC8.patch
+++ /dev/null
@@ -1,46 +0,0 @@
-From a0b3ce9ca5c69a945695c1c83dab7937a3d99b83 Mon Sep 17 00:00:00 2001
-From: Jochen Sprickerhof <git@jochen.sprickerhof.de>
-Date: Sat, 5 May 2018 23:58:13 +0200
-Subject: [PATCH] Dereference shared_ptr, fix for GCC8
-
-Upstream-Status: Accepted [https://github.com/PointCloudLibrary/pcl/commit/a0b3ce9ca5c69a945695c1c83dab7937a3d99b83]
-
-This patch has been generated with:
-  `git format-patch -1 a0b3ce9ca5c69a945695c1c83dab7937a3d99b83`
-in the pcl repository.
-
-Signed-off-by: Lukas Bulwahn <lukas.bulwahn@gmail.com>
----
- segmentation/include/pcl/segmentation/ground_plane_comparator.h      | 2 +-
- segmentation/include/pcl/segmentation/plane_coefficient_comparator.h | 2 +-
- 2 files changed, 2 insertions(+), 2 deletions(-)
-
-diff --git a/segmentation/include/pcl/segmentation/ground_plane_comparator.h b/segmentation/include/pcl/segmentation/ground_plane_comparator.h
-index e39354d..f96f38b 100644
---- a/segmentation/include/pcl/segmentation/ground_plane_comparator.h
-+++ b/segmentation/include/pcl/segmentation/ground_plane_comparator.h
-@@ -147,7 +147,7 @@ namespace pcl
-       const std::vector<float>&
-       getPlaneCoeffD () const
-       {
--        return (plane_coeff_d_);
-+        return (*plane_coeff_d_);
-       }
- 
-       /** \brief Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.
-diff --git a/segmentation/include/pcl/segmentation/plane_coefficient_comparator.h b/segmentation/include/pcl/segmentation/plane_coefficient_comparator.h
-index 9c94813..a21725a 100644
---- a/segmentation/include/pcl/segmentation/plane_coefficient_comparator.h
-+++ b/segmentation/include/pcl/segmentation/plane_coefficient_comparator.h
-@@ -141,7 +141,7 @@ namespace pcl
-       const std::vector<float>&
-       getPlaneCoeffD () const
-       {
--        return (plane_coeff_d_);
-+        return (*plane_coeff_d_);
-       }
- 
-       /** \brief Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.
--- 
-2.7.4
-
diff --git a/meta-ros-common/recipes-extended/pcl/pcl_1.8.1.bb b/meta-ros-common/recipes-extended/pcl/pcl_1.8.1.bb
deleted file mode 100644
index 37e62e7ed37..00000000000
--- a/meta-ros-common/recipes-extended/pcl/pcl_1.8.1.bb
+++ /dev/null
@@ -1,71 +0,0 @@
-DESCRIPTION = "The Point Cloud Library (or PCL) for point cloud processing."
-SECTION = "devel"
-LICENSE = "BSD"
-LIC_FILES_CHKSUM = "file://LICENSE.txt;md5=5b8a2a1aa14e6de44b4273134946a34c"
-
-DEPENDS = "boost libflann libeigen qhull"
-
-SRCREV = "39732f5a7c8455ed51fd0f6278d8b25322a68dd9"
-# pcl-1.8.1 tag isn't in any branch
-ROS_BRANCH ?= "nobranch=1"
-SRC_URI = "git://github.com/PointCloudLibrary/pcl;${ROS_BRANCH};protocol=https \
-    file://0001-Dereference-shared_ptr-fix-for-GCC8.patch \
-    file://0001-Fix-deprecated-boost-endians.patch \
-    file://0002-pcl_pclconfig.cmake-don-t-pass-SSE_FLAGS-as-DEFINITI.patch \
-"
-S = "${WORKDIR}/git"
-
-
-EXTRA_OECMAKE += "\
-  -DCMAKE_SKIP_RPATH=ON \
-  -DHAVE_MM_MALLOC_EXITCODE=0 -DHAVE_MM_MALLOC_EXITCODE__TRYRUN_OUTPUT=0 \
-  -DHAVE_POSIX_MEMALIGN_EXITCODE=0 -DHAVE_POSIX_MEMALIGN_EXITCODE__TRYRUN_OUTPUT=0 \
-   ${@bb.utils.contains("TARGET_CC_ARCH", "-msse4.2", "-DHAVE_SSE4_2_EXTENSIONS_EXITCODE=0 -DHAVE_SSE4_2_EXTENSIONS_EXITCODE__TRYRUN_OUTPUT=0", "-DHAVE_SSE4_2_EXTENSIONS_EXITCODE=1 -DHAVE_SSE4_2_EXTENSIONS_EXITCODE__TRYRUN_OUTPUT=1", d)} \
-   ${@bb.utils.contains("TARGET_CC_ARCH", "-msse4.1", "-DHAVE_SSE4_1_EXTENSIONS_EXITCODE=0 -DHAVE_SSE4_1_EXTENSIONS_EXITCODE__TRYRUN_OUTPUT=0", "-DHAVE_SSE4_1_EXTENSIONS_EXITCODE=1 -DHAVE_SSE4_1_EXTENSIONS_EXITCODE__TRYRUN_OUTPUT=1", d)} \
-  -DHAVE_SSSE3_EXTENSIONS_EXITCODE=0 -DHAVE_SSSE3_EXTENSIONS_EXITCODE__TRYRUN_OUTPUT=0 \
-   ${@bb.utils.contains("TARGET_CC_ARCH", "-msse3", "-DHAVE_SSE3_EXTENSIONS_EXITCODE=0 -DHAVE_SSE3_EXTENSIONS_EXITCODE__TRYRUN_OUTPUT=0", "-DHAVE_SSE3_EXTENSIONS_EXITCODE=1 -DHAVE_SSE3_EXTENSIONS_EXITCODE__TRYRUN_OUTPUT=1", d)} \
-   ${@bb.utils.contains("TARGET_CC_ARCH", "-msse2", "-DHAVE_SSE2_EXTENSIONS_EXITCODE=0 -DHAVE_SSE2_EXTENSIONS_EXITCODE__TRYRUN_OUTPUT=0", "-DHAVE_SSE2_EXTENSIONS_EXITCODE=1 -DHAVE_SSE2_EXTENSIONS_EXITCODE__TRYRUN_OUTPUT=1", d)} \
-   ${@bb.utils.contains("TARGET_CC_ARCH", "-msse", "-DHAVE_SSE_EXTENSIONS_EXITCODE=0 -DHAVE_SSE_EXTENSIONS_EXITCODE__TRYRUN_OUTPUT=0", "-DHAVE_SSE_EXTENSIONS_EXITCODE=1 -DHAVE_SSE_EXTENSIONS_EXITCODE__TRYRUN_OUTPUT=1", d)} \
-  -DWITH_LIBUSB=FALSE \
-  -DWITH_PNG=FALSE \
-  -DWITH_QHULL=TRUE \
-  -DWITH_CUDA=FALSE \
-  -DWITH_QT=FALSE \
-  -DWITH_VTK=FALSE \
-  -DWITH_PCAP=FALSE \
-  -DWITH_OPENGL=FALSE \
-"
-
-#Setting -ffloat-store to alleviate 32bit vs 64bit discrepancies on non-SSE platforms.
-CXXFLAGS += "${@bb.utils.contains("TARGET_CC_ARCH", "-mfpmath=sse", "", "-ffloat-store", d)}"
-
-# pcl/1.8.1-r0/git/recognition/include/pcl/recognition/3rdparty/metslib/abstract-search.hh:137:7: error: ISO C++17 does not allow dynamic exception specifications
-#  137 |       throw(no_moves_error) = 0;
-#      |       ^~~~~
-CXXFLAGS += "-std=gnu++14"
-
-inherit cmake
-
-FILES:${PN}-dev += "${datadir}/${PN}-1.8/*.cmake"
-
-# The build is really memory hungry (at least with gcc8), even with just -j 8 it triggers OOMK on system with 32GB ram
-# High memory needs mentioned in: https://github.com/PointCloudLibrary/pcl/issues/2284
-# Setting just empty doesn't work, ninja will by default use number of cores available
-# However, quick experiments have shown that it's possible to use up to CEIL(<RAM-in-GB>/5) as the argument to -j without running
-# out of memory as long as the machine has a few GB of swap space. If this fails, override it by setting
-# PARALLEL_MAKE:pn-pcl = "-j <A-SMALLER-N>" in conf/local.conf .
-
-# Tried this, but psutil fails to import:
-#   inherit python3native
-#   DEPENDS += "python3-psutil-native"
-#   PARALLEL_MAKE = "-j ${@from psutil import virtual_memory; import math; int(math.ceil(virtual_memory().total / float(1024*1024*1024*5)))}"
-
-def pcl_parallel_make_n():
-    import math
-    with open('/proc/meminfo', 'r') as f:
-        # First line of /proc/meminfo is:
-        #   MemTotal:       65879500 kB
-        _, phys_mem_kb, _ = f.readline().split()
-    return int(math.ceil(float(phys_mem_kb)/float(1024*1024*5)))
-
-PARALLEL_MAKE = "-j ${@pcl_parallel_make_n()}"
diff --git a/meta-ros-common/recipes-extended/pcl/pcl_git.bb b/meta-ros-common/recipes-extended/pcl/pcl_git.bb
new file mode 100644
index 00000000000..414506c4be9
--- /dev/null
+++ b/meta-ros-common/recipes-extended/pcl/pcl_git.bb
@@ -0,0 +1,46 @@
+DESCRIPTION = "The Point Cloud Library (or PCL) for point cloud processing."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://LICENSE.txt;md5=5b8a2a1aa14e6de44b4273134946a34c"
+
+DEPENDS = "boost libflann libeigen qhull"
+
+PV = "1.9.1+git${SRCPV}"
+SRCREV = "72f41b60a539cd1da67d1329b57222290122a0bb"
+SRC_URI = "git://github.com/PointCloudLibrary/pcl.git \
+    file://0001-Fix-deprecated-boost-endians.patch \
+"
+
+S = "${WORKDIR}/git"
+
+EXTRA_OECMAKE += "\
+  -DCMAKE_SKIP_RPATH=ON \
+  -DHAVE_MM_MALLOC_EXITCODE=0 \
+  -DHAVE_POSIX_MEMALIGN_EXITCODE=0 \
+   ${@bb.utils.contains("TARGET_CC_ARCH", "-msse4.2", "-DHAVE_SSE4_2_EXTENSIONS_EXITCODE=0", "-DHAVE_SSE4_2_EXTENSIONS_EXITCODE=1", d)} \
+   ${@bb.utils.contains("TARGET_CC_ARCH", "-msse4.1", "-DHAVE_SSE4_1_EXTENSIONS_EXITCODE=0", "-DHAVE_SSE4_1_EXTENSIONS_EXITCODE=1", d)} \
+  -DHAVE_SSSE3_EXTENSIONS_EXITCODE=0 \
+   ${@bb.utils.contains("TARGET_CC_ARCH", "-msse3", "-DHAVE_SSE3_EXTENSIONS_EXITCODE=0", "-DHAVE_SSE3_EXTENSIONS_EXITCODE=1", d)} \
+   ${@bb.utils.contains("TARGET_CC_ARCH", "-msse2", "-DHAVE_SSE2_EXTENSIONS_EXITCODE=0", "-DHAVE_SSE2_EXTENSIONS_EXITCODE=1", d)} \
+   ${@bb.utils.contains("TARGET_CC_ARCH", "-msse", "-DHAVE_SSE_EXTENSIONS_EXITCODE=0", "-DHAVE_SSE_EXTENSIONS_EXITCODE=1", d)} \
+  -DWITH_LIBUSB=FALSE \
+  -DWITH_PNG=FALSE \
+  -DWITH_QHULL=TRUE \
+  -DWITH_CUDA=FALSE \
+  -DWITH_QT=FALSE \
+  -DWITH_VTK=FALSE \
+  -DWITH_PCAP=FALSE \
+  -DWITH_OPENGL=FALSE \
+"
+
+#Setting -ffloat-store to alleviate 32bit vs 64bit discrepancies on non-SSE platforms.
+CXXFLAGS += "${@bb.utils.contains("TARGET_CC_ARCH", "-mfpmath=sse", "", "-ffloat-store", d)}"
+
+inherit cmake
+
+FILES_${PN}-dev += "${datadir}/${PN}-1.9/*.cmake ${datadir}/${PN}-1.9/Modules/*.cmake"
+
+# The build is really memory hungry (at least with gcc8), even with just -j 8 it triggers OOMK on system with 32GB ram
+# High memory needs mentioned in: https://github.com/PointCloudLibrary/pcl/issues/2284
+# Setting just empty doesn't work, ninja will by default use number of cores available
+PARALLEL_MAKE = "-j4"