While we wait for a better answer from someone else:

I believe you are looking for either:
> rosdep install point_cloud_mapping
which should install any system dependencies, or:
> rosmake point_cloud_mapping
which should build ann and flann, on which point_cloud_mapping depends.

Unless the problem is that you have checked out only
point_cloud_mapping and not the point_cloud_perception stack (which
contains ann and flann). You can get it via:
> svn co https://code.ros.org/svn/ros-pkg/stacks/point_cloud_perception/tags/latest point_cloud_perception

I hope this helps,

  Romain

On Mon, Mar 15, 2010 at 5:51 AM, Andreas Hermann <hermann@fzi.de> wrote:
> Hi ROS-Users,
>
> I am new to ROS. I got our labs Hokuyo-scanner to work with ROS within
> minutes but got stuck with problems while trying to use a Swissranger 4k.
> The problem is that I don't find a way to include external libs, namely
> ANN, FLANN and cminpack which are required by point_cloud_mapping.
> Could someone give me a hint about the basics... Do I have to create a
> package manually and fill in the sources from the downloaded ANN/FLANN
> archives? Where is rosmake searching for the built libs? Or did I miss
> something and rosdep is able to install this stuff automatically?
>
> Has perhaps someone used the swissranger-driver-wrapper from Radu Bogdan
> Rusu? It uses messages from deprecated-msgs that I replaced by
> sensor_msgs. But it needs the mentioned external packages. I would of
> course contribute the updated driver, if I get it to work.
>
> Perhaps this toppic was already discussed here, but the search
> functionality of the archive at https://code.ros.org/discuss/ros-users/
> seems to be broken (?). Also the link on the
>
>
> Thanks,
>
> Andreas
> _______________________________________________
> ros-users mailing list
> ros-users@code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>