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Checkout pcl17 and pcl17_ros packages as suggested by others. Linekd the libfiles and now I get this message.

[100%] Building CXX object CMakeFiles/minitof_listener.dir/src/main.o In file included from /home/crops_laszlo/fuerte_workspace/sandbox/fuerte-unstable-devel/pcl17/include/pcl-1.7/pcl17/io/pcd_io.h:43:0,from /home/crops_laszlo/fuerte_workspace/sandbox/minitof_listener/src/main.cpp:3: /home/crops_laszlo/fuerte_workspace/sandbox/fuerte-unstable-devel/pcl17/include/pcl-1.7/pcl17/point_cloud.h:46:27: fatal error: Eigen/StdVector: No such file or directory compilation terminated.

make[2]: * [CMakeFiles/minitof_listener.dir/src/main.o] Error 1

make[1]: * [CMakeFiles/minitof_listener.dir/all] Error 2

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