I do not believe ICMP (ping) is an automatic-fail condition for PCI (at least for certain SAQ levels that I'm familiar with) - however they do show up as warnings, particularly if you can get a timestamp response (to be used in timing-based attacks).
PCI prefers systems that handle CHD be "invisible" to the outside world, in an attempt to hide the systems an attacker might take interest in. Not always feasible (eCommerce, for example), but you gotta jump through the PCI hoops if you don't want to be stuck holding the bag if there's some breach.