put catkin_package() before add_executable and add_library , delete pcl depend form package.xml

According to http://wiki.ros.org/catkin/CMakeLists.txt#catkin_package.28.29,
catkin_package() should be below
```
This function must be called before declaring any targets with add_library() or add_executable().
```
Also I deleted pcl depends from some package.xml s