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sudo apt install ros-melodic-pcl-ros
sudo apt install ros-melodic-pcl-conversions

works. ubuntu 18.04.3 . ROS melodic . This is my CMakeLists.txt for you reference Wrap up opencv(v3.2) gtSAM PCL(1.8)

cmake_minimum_required(VERSION 2.8.3)
project(icp)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -pthread")


find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  geometry_msgs
  message_generation
  nav_msgs
  pcl_conversions
  pcl_ros
  roscpp
  rospy
  sensor_msgs
  std_msgs
  tf
)

find_package(OpenMP REQUIRED)
find_package(PCL REQUIRED QUIET)
find_package(OpenCV REQUIRED QUIET)
find_package(GTSAM REQUIRED QUIET)

add_message_files(
  DIRECTORY msg
  FILES
  cloud_info.msg
)


generate_messages(
  DEPENDENCIES
  geometry_msgs
  std_msgs
  nav_msgs
  sensor_msgs
)

catkin_package(
  INCLUDE_DIRS include
  DEPENDS PCL GTSAM

  CATKIN_DEPENDS 
  std_msgs
  nav_msgs
  geometry_msgs
  pcl_conversions
  sensor_msgs
  message_runtime 
  message_generation
)

# include directories
include_directories(
    include
    ${catkin_INCLUDE_DIRS}
    ${PCL_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
    ${GTSAM_INCLUDE_DIR}
)

# link directories
link_directories(
    include
    ${PCL_LIBRARY_DIRS}
  ${OpenCV_LIBRARY_DIRS}
  ${GTSAM_LIBRARY_DIRS}
)

add_executable(${PROJECT_NAME}_icp_localization src/icp_localization.cpp)
target_link_libraries(${PROJECT_NAME}_icp_localization ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} gtsam)