[fix] Fix PCL link with the SLAM

• The SLAM CMake could not find PCL components so I added a link_directory with PCL_LIBRARY_DIRS.

• Add define PCL_NO_PRECOMPILE as recomanded in https://pcl.readthedocs.io/projects/tutorials/en/latest/adding_custom_ptype.html

Starting with PCL-1.7 you need to define PCL_NO_PRECOMPILE before you include any PCL headers to include the templated algorithms as well.