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As always: what have you tried yourself, and what didn't work?

The error message is particularly clear: catkin (or actually cmake) cannot find the package tf2_sensor_msgs. Do you have that package installed?

It is always a good idea to first do a rosdep check --from-paths src --ignore-src from your /path/to/catkin_ws directory before trying to compile packages you just cloned from some vcs repository.

As always: what have you tried yourself, and what didn't work?

The error message is particularly clear: catkin (or actually cmake) cannot find the package tf2_sensor_msgs. Do you have that package installed?

It is always a good idea to first do a rosdep check --from-paths src --ignore-src from your /path/to/catkin_ws directory before trying to compile packages you just cloned from some vcs repository.


Also: it would seem pointcloud_to_laserscan has been released into Indigo (see the wiki page). I would recommend to install the Debians instead of building from source, unless you have a specific reason.