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Thanks for your advice fergs! Now I have problems with cast operators and pcl data types ...

 void cloudCallback(const sensor_msgs::PointCloud2ConstPtr& ros_cloud)
       // convert ros -> pcl related to PCL 1.7
       pcl::PCLPointCloud2 pcl_cloud;
       pcl_conversions::toPCL(*ros_cloud, pcl_cloud);   
       // Create the pcl filtering object
       pcl::PassThrough<pcl::PCLPointCloud2> pass;
       pass.setInputCloud(pcl_cloud);  // <-- does not work, we need a cast operator here
                                                                to pcl::PointCloud2ConstPtr&

I guess it is not possible to generate a pcl::PointCloud2ConstPtr& from struct pcl::PCLPointCloud2? How can I solve the problem?

Thanks a lot