$ sudo apt-get update
$ sudo apt-get install cl-pcl-msgs 

cl-pcl-msgs is installed in your system.

Make ensure the cl-pcl-msgs package were installed using the commands given below,

$ sudo dpkg-query -l | grep cl-pcl-msgs *

You will get with cl-pcl-msgs package name, version, architecture and description in a table

cl-pcl-msgs package basic information: