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I also had a linking problem with pcl_ros::transformPointCloud() and solved it by changing the point type from PointXY to PointXYZ (pcl_ros::transformPointCloud() can only cope with 3d-points).

I also had a linking problem with pcl_ros::transformPointCloud() and solved it by changing the point type from PointXY to PointXYZ (pcl_ros::transformPointCloud() can only cope with 3d-points).

Edit: Try #include <pcl_ros/impl/transfoms.hpp>. This solved the linker error and gave me more helpful compiler errors instead (complaining about the missing 'z'). Though your problem seems to be different, it might give you a more helpful error, too.

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