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You'll need to #include the appropriate header for PointCloud2s:

#include "sensor_msgs/PointCloud2.h"

However, let me suggest something better: rather than subscribe to PointCloud2 objects (which are literal translations of the on-the-wire format, and somewhat hard to deal with), take a look at pcl_ros, and subscribe to PointCloud<PointXYZ> (or PointCloud<PointXYZ>, depending on your data); that way, all of the translation to a PCL type (and all the helpful machinery that comes with it) are done for you.