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I had the same problem with visualization (ROS FUERTE, Ubuntu 12.04LTS). It seems to be some dependency missing with the ros-pcl version. What I did, I removed PCL from ros (sudo apt-get remove ros-fuerte-pcl) and downloaded the PCL version from the website (trunk, in my case) and build it with "USE_ROS true" (important to use USE_ROS, or you will get some reference errors. Dunno why)

Than I simply removed the pcl and ros_pcl from the manifest.xml and used the standard CMakeList.txt method to include PCL. In my case,

  find_package(PCL 1.5 REQUIRED COMPONENTS segmentation filters visualization)
  include_directories(${PCL_INCLUDE_DIRS})
  link_directories(${PCL_LIBRARY_DIRS})
  add_definitions(${PCL_DEFINITIONS})

and finally

  target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES} )

Works perfectly, also with visualization.