/usr/lib/pkgconfig/pcl_msgs.pc is in libpcl-msgs-dev 0.2.0-2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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Name: pcl_msgs
Description: Description of pcl_msgs
Version: 0.2.0
Cflags:
Libs:
Requires: message_runtime sensor_msgs std_msgs
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