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perception pcl

asked 2011-05-17 04:58:49 -0500

kang gravatar image

updated 2011-09-03 15:26:43 -0500

kwc gravatar image


Currently I am trying tutorial for PCL as described in

But, as in perception_pcl package in ros I could not find file named "FindPCL.cmake".

Perhaps, someone could give some enlightenment here. I am still a bit confused how to use pcl in ros.

Thanks in advanced.


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In general it's best to add more detail to your headline. Try something like "Perception_pcl can't find FindPCL.cmake"
Asomerville gravatar image Asomerville  ( 2011-05-18 09:54:10 -0500 )edit

3 Answers

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answered 2011-05-17 14:49:47 -0500

Eric Perko gravatar image

The tutorial you linked above is for using standalone PCL in your own CMake based project. It is not for using PCL within ROS.

If you are looking for how to use PCL in your own ROS nodes, see the pcl_ros docs. In a nutshell, create a package as usual (this is described in the beginner tutorials elsewhere on, add a dependency on the pcl_ros package and then you should be able to include pcl headers into your package.

If you are trying to use standalone PCL in your own CMake based project outside of ROS and are having trouble, you should send an email to the pcl-users mailing list detailing the issues you are having.

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answered 2015-06-16 22:39:47 -0500

ShubhamVerma gravatar image

In ROS Indigo, if you want to use the standalone version of PCL, add following to include PCL headers before the ROS's default find packages:

find_package(PCL 1.2 REQUIRED)
find_package(catkin REQUIRED COMPONENTS
add_executable(xyz src/xyz.cpp)
target_link_libraries(xyz ${PCL_LIBRARIES} ${catkin_LIBRARIES})

in addition to modifying your build and run dependencies in package.xml as per your requirements like pcl_msgs sensor_msgs ..

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answered 2011-05-17 13:47:42 -0500

Shark gravatar image

From my experience, those tutorials are a bit outdated. I've used some other tutorials on the site, but they miss certain essential things that I had to discover on my own. I.e. you need to create a manifest.xml folder when creating your own package, but the tutorials on the site never mention it.

I'd assume that's the likely culprit. Also, the PCL library changes very rapidly and has changed a lot, and the file this tutorial referenced might have been long moved/integrated/etc. into something else.

Unfortunately, I'm not in expert in this area, but from my own hacking code, this is what I'm discovered about the PCL Tutorials.


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Asked: 2011-05-17 04:58:49 -0500

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Last updated: Jun 16 '15