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PCL can be linked to ROS as an external library with visualizations running too. I guess that you have problem with the VTK visualization library.

First try this,

Add these in CMakeLists of your ROS PACKAGE

include_directories(/usr/include/vtk-5.8)

target_link_libraries(pcl_viz ${PCL_LIBRARIES} libvtkCommon.so libvtkFiltering.so libvtkRendering.so)

Here pcl_viz is the executable..

Next you can through the small tips at this link

https://dl.dropboxusercontent.com/u/95042389/Must%20read%20for%20PCL%20and%20ROS%20integration

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