add pcl

CMakeLists.txt

@@ -9,6 +9,8 @@ find_package(catkin REQUIRED COMPONENTS
   data_convert
   geometry_msgs
   nav_msgs
+  pcl_conversions
+  pcl_ros
   robot_depth_image_proc
   robot_costmap_2d
   robot_cpp
@@ -20,6 +22,11 @@ find_package(catkin REQUIRED COMPONENTS
   tf2_ros
 )
 
+find_package(PCL REQUIRED COMPONENTS
+  common
+  filters
+)
+
 find_library(TF3_LIBRARY
   NAMES tf3
   PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu
@@ -38,11 +45,13 @@ add_executable(depth_local_costmap_noetic_test_node
 target_include_directories(depth_local_costmap_noetic_test_node
   PRIVATE
     ${catkin_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
 )
 
 target_link_libraries(depth_local_costmap_noetic_test_node
   PRIVATE
     ${catkin_LIBRARIES}
+    ${PCL_LIBRARIES}
     ${TF3_LIBRARY}
 )