diff --git a/pcl_ros/include/pcl_ros/features/feature.h b/pcl_ros/include/pcl_ros/features/feature.h
index 3d5f9604..ca0dccc0 100644
--- a/pcl_ros/include/pcl_ros/features/feature.h
+++ b/pcl_ros/include/pcl_ros/features/feature.h
@@ -40,7 +40,7 @@
 
 // PCL includes
 #include <pcl/features/feature.h>
-#include <pcl/PointIndices.h>
+#include <pcl_msgs/PointIndices.h>
 
 #include "pcl_ros/pcl_nodelet.h"
 #include <message_filters/pass_through.h>
diff --git a/pcl_ros/include/pcl_ros/segmentation/extract_polygonal_prism_data.h b/pcl_ros/include/pcl_ros/segmentation/extract_polygonal_prism_data.h
index 33050a41..8c24a889 100644
--- a/pcl_ros/include/pcl_ros/segmentation/extract_polygonal_prism_data.h
+++ b/pcl_ros/include/pcl_ros/segmentation/extract_polygonal_prism_data.h
@@ -93,7 +93,7 @@ namespace pcl_ros
       input_callback (const PointCloudConstPtr &input)
       {
         PointIndices cloud;
-        cloud.header.stamp = input->header.stamp;
+        cloud.header.stamp = pcl_conversions::fromPCL(input->header).stamp;
         nf_.add (boost::make_shared<PointIndices> (cloud));
       }
 
diff --git a/pcl_ros/src/pcl_ros/filters/filter.cpp b/pcl_ros/src/pcl_ros/filters/filter.cpp
index 6257301a..30104d94 100644
--- a/pcl_ros/src/pcl_ros/filters/filter.cpp
+++ b/pcl_ros/src/pcl_ros/filters/filter.cpp
@@ -133,20 +133,20 @@ pcl_ros::Filter::onInit ()
 
     if (approximate_sync_)
     {
-      sync_input_indices_a_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, pcl::PointIndices> > >(max_queue_size_);
+      sync_input_indices_a_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, pcl_msgs::PointIndices> > >(max_queue_size_);
       sync_input_indices_a_->connectInput (sub_input_filter_, sub_indices_filter_);
       sync_input_indices_a_->registerCallback (bind (&Filter::input_indices_callback, this, _1, _2));
     }
     else
     {
-      sync_input_indices_e_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, pcl::PointIndices> > >(max_queue_size_);
+      sync_input_indices_e_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, pcl_msgs::PointIndices> > >(max_queue_size_);
       sync_input_indices_e_->connectInput (sub_input_filter_, sub_indices_filter_);
       sync_input_indices_e_->registerCallback (bind (&Filter::input_indices_callback, this, _1, _2));
     }
   }
   else
     // Subscribe in an old fashion to input only (no filters)
-    sub_input_ = pnh_->subscribe<sensor_msgs::PointCloud2> ("input", max_queue_size_,  bind (&Filter::input_indices_callback, this, _1, pcl::PointIndicesConstPtr ()));
+    sub_input_ = pnh_->subscribe<sensor_msgs::PointCloud2> ("input", max_queue_size_,  bind (&Filter::input_indices_callback, this, _1, pcl_msgs::PointIndicesConstPtr ()));
 
   NODELET_DEBUG ("[%s::onInit] Nodelet successfully created.", getName ().c_str ());
 }
diff --git a/pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp b/pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
index 23ab6d12..7c54c414 100644
--- a/pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
+++ b/pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
@@ -40,6 +40,11 @@
 #include "pcl_ros/segmentation/extract_polygonal_prism_data.h"
 #include <pcl/io/io.h>
 
+#include <pcl_conversions/pcl_conversions.h>
+
+using pcl_conversions::fromPCL;
+using pcl_conversions::toPCL;
+
 //////////////////////////////////////////////////////////////////////////////////////////////
 void
 pcl_ros::ExtractPolygonalPrismData::onInit ()
@@ -120,14 +125,14 @@ pcl_ros::ExtractPolygonalPrismData::input_hull_indices_callback (
     return;
 
   // Copy the header (stamp + frame_id)
-  pcl::PointIndices inliers;
-  inliers.header = cloud->header;
+  pcl_msgs::PointIndices inliers;
+  inliers.header = fromPCL(cloud->header);
 
   // If cloud is given, check if it's valid
   if (!isValid (cloud) || !isValid (hull, "planar_hull"))
   {
     NODELET_ERROR ("[%s::input_hull_indices_callback] Invalid input!", getName ().c_str ());
-    pub_output_.publish (boost::make_shared<const pcl::PointIndices> (inliers));
+    pub_output_.publish (boost::make_shared<const pcl_msgs::PointIndices> (inliers));
     return;
   }
   // If indices are given, check if they are valid
@@ -145,16 +150,16 @@ pcl_ros::ExtractPolygonalPrismData::input_hull_indices_callback (
                    "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                    "                                 - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
                    getName ().c_str (), 
-                   cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
-                   hull->width * hull->height, pcl::getFieldsList (*hull).c_str (), hull->header.stamp.toSec (), hull->header.frame_id.c_str (), pnh_->resolveName ("planar_hull").c_str (),
+                   cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
+                   hull->width * hull->height, pcl::getFieldsList (*hull).c_str (), fromPCL(hull->header).stamp.toSec (), hull->header.frame_id.c_str (), pnh_->resolveName ("planar_hull").c_str (),
                    indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName ("indices").c_str ());
   else
     NODELET_DEBUG ("[%s::input_indices_hull_callback]\n"
                    "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                    "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
                    getName ().c_str (),
-                   cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
-                   hull->width * hull->height, pcl::getFieldsList (*hull).c_str (), hull->header.stamp.toSec (), hull->header.frame_id.c_str (), pnh_->resolveName ("planar_hull").c_str ());
+                   cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
+                   hull->width * hull->height, pcl::getFieldsList (*hull).c_str (), fromPCL(hull->header).stamp.toSec (), hull->header.frame_id.c_str (), pnh_->resolveName ("planar_hull").c_str ());
   ///
 
   if (cloud->header.frame_id != hull->header.frame_id)
@@ -180,10 +185,14 @@ pcl_ros::ExtractPolygonalPrismData::input_hull_indices_callback (
   impl_.setIndices (indices_ptr);
 
   // Final check if the data is empty (remember that indices are set to the size of the data -- if indices* = NULL)
-  if (!cloud->points.empty ())
-    impl_.segment (inliers);
+  if (!cloud->points.empty ()) {
+    pcl::PointIndices pcl_inliers;
+    toPCL(inliers, pcl_inliers);
+    impl_.segment (pcl_inliers);
+    fromPCL(pcl_inliers, inliers);
+  }
   // Enforce that the TF frame and the timestamp are copied
-  inliers.header = cloud->header;
+  inliers.header = fromPCL(cloud->header);
   pub_output_.publish (boost::make_shared<const PointIndices> (inliers));
   NODELET_DEBUG ("[%s::input_hull_callback] Publishing %zu indices.", getName ().c_str (), inliers.indices.size ());
 }