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You should post here the package file and the cmake file, it seems like you didn't write them correctly. Anyway make sure you have these in the package.xml:
<build_depend>pcl_conversions</build_depend>
<build_depend>pcl_ros</build_depend>
<run_depend>pcl_conversions</run_depend>
<run_depend>pcl_ros</run_depend>
and then in the CMakeLists.txt file you should have something like this:
find_package(catkin REQUIRED COMPONENTS
pcl_conversions
pcl_ros
)
target_link_libraries(executable_name
${catkin_LIBRARIES}
${roslib_LIBRARIES}
${PCL_LIBRARIES}
)
I hope this helps