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Thanks to @ahendrix pointing out that the tutorial is old. I checked some other possible tutorials on how to add PCL to my ros package. Finally I found this one which gave me enough insight and worked with the code presented there.

In relation to my question apparently the issue was incompatibility of the code which is old with the library which is rather new.

Thanks to @ahendrix pointing out that the tutorial is old. I checked some other possible tutorials on how to add PCL to my ros package. Finally I found this one tutorial page which gave me enough insight and worked with the code presented there. linker was not complaining.

In relation to my question question, apparently the issue was incompatibility of the code which is old with the library which is rather new. The headers are there but the object files in the library are missing.