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Add

  find_package(PCL 1.7 REQUIRED COMPONENTS common io)
  include_directories(${PCL_INCLUDE_DIRS})
  link_directories(${PCL_LIBRARY_DIRS})
  add_definitions(${PCL_DEFINITIONS})

to your CMakeLists.txt.

Add

  find_package(PCL 1.7 REQUIRED COMPONENTS common io)
  include_directories(${PCL_INCLUDE_DIRS})
  link_directories(${PCL_LIBRARY_DIRS})
  add_definitions(${PCL_DEFINITIONS})

and then

target_link_libraries(your_executable_name ${catkin_LIBRARIES} ${PCL_LIBRARIES})

to your CMakeLists.txt.

Add

  find_package(PCL 1.7 REQUIRED COMPONENTS common io)
  include_directories(${PCL_INCLUDE_DIRS})
  link_directories(${PCL_LIBRARY_DIRS})
  add_definitions(${PCL_DEFINITIONS})

and then

target_link_libraries(your_executable_name ${catkin_LIBRARIES} ${PCL_LIBRARIES})

${PCL_LIBRARIES})

to your CMakeLists.txt.