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You should use the ROS tutorials for writing your CMakeLists.txt. The perception_pcl tutorials need to be updated (pcl is now a system dependency), and the hydro migration guide has some useful info. You should include the following:

find_package(catkin REQUIRED COMPONENTS
  ...
)

include_directories(include ${catkin_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})

find_package(PCL REQUIRED COMPONENTS ...)

catkin_package(
  ...
  DEPENDS
    PCL
)

add_executable(<node> src/<node>.cpp)
target_link_libraries(<node> ${catkin_LIBRARIES} ${PCL_LIBRARIES})

You should use the ROS tutorials for writing your CMakeLists.txt. The perception_pcl tutorials need to be updated (pcl is now a system dependency), and the hydro migration guide has some useful info. You should include the following:

find_package(catkin REQUIRED COMPONENTS
  ...
)

include_directories(include ${catkin_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})

find_package(PCL REQUIRED COMPONENTS ...)

include_directories(include ${catkin_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})    

catkin_package(
  ...
  DEPENDS
    PCL
)

add_executable(<node> src/<node>.cpp)
target_link_libraries(<node> ${catkin_LIBRARIES} ${PCL_LIBRARIES})