/usr/local/opt/ros/perception_pcl/pcl/include/pcl/ros/conversions.h:284:9: error: taking address of temporary [-fpermissive]
First assign the temporary variable to a local variable. Then reference the address of the local variable. However, this is more complicated with arrays being copied with memcpy. One way is to use a for-loop to replace memcpy.
See patch for a similar error in another library.
Since the change is somewhat drastic, I compiled pcl_ros with gcc-4.5 instead.
# install gcc-4.5 yaourt -S gcc45
Add the following lines (prefixed with +) near the top, *after* the rosbuild directives.
rosbuild_init() ... +set (CMAKE_C_COMPILER gcc-4.5) +set (CMAKE_CXX_COMPILER g++-4.5)
(If the compilers are set before the rosbuild directives, cmake will enter an infinite loop during configuration!)
Then pcl_ros should compile.