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Which ros distro do you use? Have you added pcl to your CMakeLists.txt properly?

Assuming you use hydro with catkin you need add to your CMakeLists.txt:

find_package( PCL REQUIRED )
include_directories(  ${catkin_INCLUDE_DIRS}  ${PCL_INCLUDE_DIRS} )
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

and for each of your executables/libs you created like

add_executable( my_exec  my_cpp_file.cpp )

you need to link against both catkin and pcl libs:

target_link_libraries (cloud_publisher ${PCL_LIBRARIES} ${catkin_LIBRARIES} )

With catkin I think there is no separate ros pcl package anymore.

Which ros distro do you use? Have you added pcl to your CMakeLists.txt properly?

Assuming you use hydro with catkin you need add to your CMakeLists.txt:

find_package( PCL REQUIRED )
include_directories(  ${catkin_INCLUDE_DIRS}  ${PCL_INCLUDE_DIRS} )
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

and for each of your executables/libs you created like

add_executable( my_exec  my_cpp_file.cpp )

you need to link against both catkin and pcl libs:

target_link_libraries (cloud_publisher ( my_exec ${PCL_LIBRARIES} ${catkin_LIBRARIES} )

With catkin I think there is no separate ros pcl package anymore.