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You should post here the package file and the cmake file, it seems like you didn't write them correctly. Anyway make sure you have these in the package.xml:

  <build_depend>pcl_conversions</build_depend>
  <build_depend>pcl_ros</build_depend>

  <run_depend>pcl_conversions</run_depend>
  <run_depend>pcl_ros</run_depend>

and then in the CMakeLists.txt file you should have something like this:

find_package(catkin REQUIRED COMPONENTS
  pcl_conversions
  pcl_ros
)
target_link_libraries(executable_name
  ${catkin_LIBRARIES}
  ${roslib_LIBRARIES}
  ${PCL_LIBRARIES}
)

I hope this helps