transform pointcloud with tf2

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Hello,

I have two tf2 frames in ROS "World" and "Robot" the world is on position 0, 0, 0 and the Robot is on different position, it is a moving robot, but for now let say he is on position 8, 4, 6.

I have a kinect v2 hooked up on ROS with the iai_bridge, so i get the pointclouds on a topic. The problem is when i lookup the transformation between the world and transform the given camera on frame "World" pointcloud to the "Robot" pointcloud the compiler gives me an error.

The code:

#include <ros/ros.h>
#include <tf2_ros/transform_listener.h>
#include <geometry_msgs/TransformStamped.h>
#include <geometry_msgs/Twist.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf2/convert.h>

int main(int argc, char** argv) {
    ros::init(argc, argv, "my_tf2_listener");

    ros::NodeHandle node;

    tf2_ros::Buffer tfBuffer;
    tf2_ros::TransformListener tfListener(tfBuffer);
    sensor_msgs::PointCloud2 cloud_in, cloud_out;

    ros::Rate rate(10.0);
    while (node.ok()) {
        geometry_msgs::TransformStamped transformStamped;
        try {
            transformStamped = tfBuffer.lookupTransform("world", "robotarm",
                    ros::Time(0));
            std::cout << transformStamped << std::endl;
            tf2::doTransform(cloud_in, cloud_out, transformStamped);

//          pcl_ros::transformPointCloud("robotarm", cloud_in, cloud_out, tfListener);

        } catch (tf2::TransformException &ex) {
            ROS_WARN("%s", ex.what());
            ros::Duration(1.0).sleep();
            continue;
        }

        rate.sleep();
    }
    return 0;
}
;

My CMakeLists:

cmake_minimum_required(VERSION 2.8.3)
project(learning_tf2)

add_definitions(-std=c++11)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  tf2
  tf2_ros
  tf2_msgs
  tf2_sensor_msgs
  geometry_msgs
  sensor_msgs
)


include_directories(
  ${catkin_INCLUDE_DIRS}
)

add_executable(turtle_tf2_listener src/turtle_tf2_listener.cpp)

target_link_libraries(turtle_tf2_listener
  ${catkin_LIBRARIES}
)

add_executable(frame_tf2_broadcaster src/frame_tf2_broadcaster.cpp)
target_link_libraries(frame_tf2_broadcaster
 ${catkin_LIBRARIES}
)
 

And the error:

CMakeFiles/turtle_tf2_listener.dir/src/turtle_tf2_listener.cpp.o: In function `main':
turtle_tf2_listener.cpp:(.text+0x316): undefined reference to `void tf2::doTransform<sensor_msgs::PointCloud2_<std::allocator<void> > >(sensor_msgs::PointCloud2_<std::allocator<void> > const&, sensor_msgs::PointCloud2_<std::allocator<void> >&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)'
collect2: error: ld returned 1 exit status
learning_tf2/CMakeFiles/turtle_tf2_listener.dir/build.make:117: recipe for target 'learning_tf2/turtle_tf2_listener' failed

And finally, all the installed ros TF packages, all from the ubuntu repo's:

ros-kinetic-tf2
ros-kinetic-tf2-eigen
ros-kinetic-tf2-geometry-msgs
ros-kinetic-tf2-kdl
ros-kinetic-tf2-msgs
ros-kinetic-tf2-py
ros-kinetic-tf2-ros
ros-kinetic-tf2-sensor-msgs
ros-kinetic-tf2-tools

My question: How can I transform the pointcloud so that the pointcloud is transformed from the "World" frame to the "Robot" frame?

Best Regards, Maurice