I believe you need the correct version of Perl installed anywhere youre running / debugging your Perl scripts. It doesn't have to be installed per se (see below), but you may also choose to bundle it with the probe, configure PATH/enviroment, etc., if the Perl script needs to run locally.
That said, note that you can compile a Perl script into an executable file. This removes the need for a full installation of Perl on a robot that is going to be running your custom probe. You can run a custom Perl probe without installing Perl on every single robot.
There is some helpful information here in the SDK_Perl release notes:
Nimsoft SDK for Perl
The Nimsoft Perl SDK allows you to run and write probes in the Perl programming language.
http://support.nimsoft.com/unsecure/archive.aspx?id=14
Perl SDK Reference Guide
https://docops.ca.com/ca-unified-infrastructure-management/8-5-1/en/files/373474819/434439320/2/1515433725745/PERL--Perl+SDK_11_17.pdf
Also check out this community post which was for developing a custom probe on Windows but worth mentioning.
Develop a custom Perl probe with this kickstarter - Part 1
https://communities.ca.com/docs/DOC-231172625-custom-perl-probe-kickstarter
Part 2
https://communities.ca.com/docs/DOC-231172657-perl-probe-kickstarter-ppk-part-2-package-and-distribute
Regards,
Steve