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You will need to include the geometry_msgs/Point message, which resides in the geometry_msgs package. This is a header generated automatically from the Point.msg file in that package.

#include "geometry_msgs/Point.h"

Also dont forget to add the geometry_msgs in your package.xml and CMakeLists.txt
In package.xml add:

<depend>sensor_msgs</depend>

In CMakeLists.txt add:

find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
)

catkin_package(
  CATKIN_DEPENDS geometry_msgs
)

You will need to include the geometry_msgs/Point message, which resides in the geometry_msgs package. This is a header generated automatically from the Point.msg file in that package.

#include "geometry_msgs/Point.h"

Also dont forget to add the geometry_msgs in your package.xml and CMakeLists.txt
In package.xml add:

<depend>sensor_msgs</depend>
<depend>geometry_msgs</depend>

In CMakeLists.txt add:

find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
)

catkin_package(
  CATKIN_DEPENDS geometry_msgs
)