在cmakelist.txt中加入pcl_conversions和pcl_ros
find_package(catkin REQUIRED COMPONENTS
${${PROJECT_NAME}_CATKIN_DEPS}
roslint ad_msg
pcl_conversions
pcl_ros)
在package.xml中加入
<build_depend>libpcl-all-dev</build_depend>
<exec_depend>libpcl-all</exec_depend>