Adding new dependency after running catkin_create_pkg

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How can I add a new dependency to my package, after the package has been created? In my case: 1st step: catkin_create_pkg beginner_tutorials std_msgs roscpp ... Next step: I want to add a dependency to pcl and pcl_ros

Is there an easy way to achieve this?

After editing CmakeLists.txt/package.xml or creating a new package from scratch I get this error when running catkin_make in the root work folder:

CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:72 (find_package): Could not find a configuration file for package pcl.

Set pcl_DIR to the directory containing a CMake configuration file for pcl. The file will have one of the following names:

pclConfig.cmake
pcl-config.cmake