Unable to #include pcl files in header

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Hi there,

I am trying to understand how to publish and subscribe to a PointCloud2 data from Kinect. Here is a sample program that publishes a PointCloud data.

#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>

typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;

int main(int argc, char** argv)
{
  ros::init (argc, argv, "pub_pcl");
  ros::NodeHandle nh;
  ros::Publisher pub = nh.advertise<PointCloud> ("points2", 1);

  PointCloud::Ptr msg (new PointCloud);
  msg->header.frame_id = "some_tf_frame";
  msg->height = msg->width = 1;
  msg->points.push_back (pcl::PointXYZ(1.0, 2.0, 3.0));

  ros::Rate loop_rate(4);
  while (nh.ok())
  {
    msg->header.stamp = ros::Time::now ();
    pub.publish (msg);
    ros::spinOnce ();
    loop_rate.sleep ();
  }
}

However, there are errors. My system cannot find files #include <pcl_ros/point_cloud.h> and #include <pcl/point_types.h>. I tried to search for the files, and got them under /pcl-1.5/pcl/point_types.h.

I tried to #include the above path. Now the error changed to fatal error: Eigen/StdVector: No such file or directory, compilation terminated.

Here are my Questions:

1. Why I have files under /pcl-1.5/pcl/point_types.h rather than general

   pcl/point_types.h? Does it make a difference. Same question for pcl_ros/point_cloud.h

2. What am I doing wrong? why an already given code is not running properly?

3. I have no folder called pcl_ros. Why?

Any answer will be appreciated.