diff --git a/recipes-extended/pcl/pcl/0001-make-the-pcl-library-compile-with-gcc6.patch b/recipes-extended/pcl/pcl/0001-make-the-pcl-library-compile-with-gcc6.patch
new file mode 100644
index 0000000..e9e2ec2
--- /dev/null
+++ b/recipes-extended/pcl/pcl/0001-make-the-pcl-library-compile-with-gcc6.patch
@@ -0,0 +1,138 @@
+From 19361abfa1bf21bc9be911f6ffa97f1c43174d8d Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Tue, 27 Sep 2016 14:05:22 +0200
+Subject: [PATCH] make the pcl library compile with gcc6
+
+With gcc6, compiling fails with `stdlib.h: No such file or directory`,
+as including '-isystem /usr/include' breaks with gcc6, cf.,
+https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70129.
+
+As far as I can judge from the history, all uses of `SYSTEM` were
+added to avoid to show warnings from external libraries or were
+added without any further argumentation for the use of `SYSTEM` in
+the commit message. The detailed inspection of the git history is shown
+below.
+
+There are other better solutions to avoid to show warnings from
+external libraries without modifying the SYSTEM default directories.
+Hence, this commit replaces all occurrences of
+`include_directory(SYSTEM ...)` with `include_directory(...)`. After
+this change, the point cloud library compiles with gcc6 (in my setup).
+
+The inspection of the git history pointed the following relevant
+git commits:
+
+In commit 636c49a6 [1], Eigen, FLANN, and MPI include directories
+`are set as system to avoid warnings in those files`. The SYSTEM attribute
+in the Eigen include directory remained until now; the other two occurrences
+of the SYSTEM attribute have been dropped in commit 9003e42b [2] for FLANN
+during work on `fixing the USE_ROS flag` without further explanation,
+and in commit 582a1cff [3], which completely removed the whole MPI setup
+in the CMakeLists.txt.
+
+The commit ef3e489b [4] `set[ted] Boost libraries as system libraries`,
+probably with the same rationale as in commit 636c49a6, i.e., to avoid
+warnings in those files.
+
+The commit 55deacd7 [5] provided a generic cmake script for grabbers
+based on already pre-existing patterns in the CMakeLists.txt file.
+
+[1] https://github.com/PointCloudLibrary/pcl/commit/636c49a6ffe7ec8c5409803b137b9d77081b9f9b
+[2] https://github.com/PointCloudLibrary/pcl/commit/9003e42b7f648cd94ed817473c566cc97517ae08
+[3] https://github.com/PointCloudLibrary/pcl/commit/582a1cffd5f074135937bfdaeab01b4e6048ce32
+[4] https://github.com/PointCloudLibrary/pcl/commit/ef3e489ba7ef6fe3ef0319b15f5dc4b64b21ea32
+[5] https://github.com/PointCloudLibrary/pcl/commit/55deacd7b1bb3cc63ad19bef971b97f0777864d6
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+
+Upstream-Status: Pending [https://github.com/PointCloudLibrary/pcl/pull/1730]
+
+---
+ CMakeLists.txt                  | 2 +-
+ cmake/Modules/FindOpenNI.cmake  | 2 +-
+ cmake/Modules/FindOpenNI2.cmake | 2 +-
+ cmake/pcl_find_boost.cmake      | 2 +-
+ cmake/pcl_targets.cmake         | 2 +-
+ test/CMakeLists.txt             | 2 +-
+ 6 files changed, 6 insertions(+), 6 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index e5fd763..c658df5 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -272,7 +272,7 @@ endif()
+ 
+ # Eigen (required)
+ find_package(Eigen REQUIRED)
+-include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})
++include_directories(${EIGEN_INCLUDE_DIRS})
+ add_definitions(-DEIGEN_USE_NEW_STDVECTOR
+                 -DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET)
+ # FLANN (required)
+diff --git a/cmake/Modules/FindOpenNI.cmake b/cmake/Modules/FindOpenNI.cmake
+index 9f772a4..bd36f3e 100644
+--- a/cmake/Modules/FindOpenNI.cmake
++++ b/cmake/Modules/FindOpenNI.cmake
+@@ -30,7 +30,7 @@ if(NOT WIN32)
+     message(STATUS "OpenNI disabled because libusb-1.0 not found.")
+     return()
+   else()
+-    include_directories(SYSTEM ${USB_10_INCLUDE_DIR})
++    include_directories(${USB_10_INCLUDE_DIR})
+   endif()
+ endif(NOT WIN32)
+ 
+diff --git a/cmake/Modules/FindOpenNI2.cmake b/cmake/Modules/FindOpenNI2.cmake
+index 713099a..8226895 100644
+--- a/cmake/Modules/FindOpenNI2.cmake
++++ b/cmake/Modules/FindOpenNI2.cmake
+@@ -30,7 +30,7 @@ if(NOT WIN32)
+     message(STATUS "OpenNI 2 disabled because libusb-1.0 not found.")
+     return()
+   else()
+-    include_directories(SYSTEM ${USB_10_INCLUDE_DIR})
++    include_directories(${USB_10_INCLUDE_DIR})
+   endif()
+ endif(NOT WIN32)
+ 
+diff --git a/cmake/pcl_find_boost.cmake b/cmake/pcl_find_boost.cmake
+index a3abe1c..c57b87d 100644
+--- a/cmake/pcl_find_boost.cmake
++++ b/cmake/pcl_find_boost.cmake
+@@ -48,6 +48,6 @@ if(Boost_FOUND)
+   # Obtain diagnostic information about Boost's automatic linking outputted 
+   # during compilation time.
+   add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS})
+-  include_directories(SYSTEM ${Boost_INCLUDE_DIRS})
++  include_directories(${Boost_INCLUDE_DIRS})
+   link_directories(${Boost_LIBRARY_DIRS})
+ endif(Boost_FOUND)
+diff --git a/cmake/pcl_targets.cmake b/cmake/pcl_targets.cmake
+index 691ead0..f730743 100644
+--- a/cmake/pcl_targets.cmake
++++ b/cmake/pcl_targets.cmake
+@@ -858,7 +858,7 @@ macro(PCL_ADD_GRABBER_DEPENDENCY _name _description)
+         message(WARNING "${_description}: not building because ${_name} not found")
+       else()
+         set(HAVE_${_name_capitalized} TRUE)
+-        include_directories(SYSTEM "${${_name_capitalized}_INCLUDE_DIRS}")
++        include_directories("${${_name_capitalized}_INCLUDE_DIRS}")
+       endif()
+     endif()
+ endmacro(PCL_ADD_GRABBER_DEPENDENCY)
+diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
+index 3b3e2d7..342cb62 100644
+--- a/test/CMakeLists.txt
++++ b/test/CMakeLists.txt
+@@ -17,7 +17,7 @@ PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS
+ if(build)
+ 
+     find_package(Gtest REQUIRED)
+-    include_directories(SYSTEM ${GTEST_INCLUDE_DIRS} ${GTEST_SRC_DIR})
++    include_directories(${GTEST_INCLUDE_DIRS} ${GTEST_SRC_DIR})
+ 
+     add_library(pcl_gtest STATIC ${GTEST_SRC_DIR}/src/gtest-all.cc)
+ 	
+-- 
+2.5.5
+
diff --git a/recipes-extended/pcl/pcl_1.8.0.bb b/recipes-extended/pcl/pcl_1.8.0.bb
index 58de62f..16212cd 100644
--- a/recipes-extended/pcl/pcl_1.8.0.bb
+++ b/recipes-extended/pcl/pcl_1.8.0.bb
@@ -9,6 +9,8 @@ SRC_URI = "https://github.com/PointCloudLibrary/${PN}/archive/${P}.tar.gz"
 SRC_URI[md5sum] = "8c1308be2c13106e237e4a4204a32cca"
 SRC_URI[sha256sum] = "9e54b0c1b59a67a386b9b0f4acb2d764272ff9a0377b825c4ed5eedf46ebfcf4"
 
+SRC_URI += "file://0001-make-the-pcl-library-compile-with-gcc6.patch"
+
 S = "${WORKDIR}/pcl-${P}"
 
 EXTRA_OECMAKE += "\