perception pcl

edit

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)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
find_package(catkin REQUIRED COMPONENTS
    geometry_msgs
    nav_msgs
    roscpp
    :
    :
    laser_geometry
)
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 ..

From my experience, those tutorials are a bit outdated.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.

-Shark