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The tutorial you linked above is for using standalone PCL in your own CMake based project. It is not for using PCL within ROS.
If you are looking for how to use PCL in your own ROS nodes, see the pcl_ros docs. In a nutshell, create a package as usual (this is described in the beginner tutorials elsewhere on ros.org), add a dependency on the pcl_ros package and then you should be able to include pcl headers into your package.
If you are trying to use standalone PCL in your own CMake based project outside of ROS and are having trouble, you should send an email to the pcl-users mailing list detailing the issues you are having.
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