1) I had to add #include to: geom_utils.h vis_wrapper.cpp It should basically go anywhere that has pcl::toROSMsg or pcl::fromROSMsg), but these two were the only places needed because other files depended on them and inherited the include. For completeness you should probably also add it to: measures.h segment_scene.cpp 2) Change setCameraPose to setCameraPosition in segment_scene.cpp annotate_bag.cpp vis_wrapper.cpp cooccurrence.cpp