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Compiling the comments into an answer:

Package: new_policies_system

CMakeLists.txt should include:

find_package(catkin REQUIRED COMPONENTS 
  roscpp 
  social_layers
  ...
)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES new_policies_system
  CATKIN_DEPENDS
    roscpp
    social_layers
    ...
  DEPENDS 
    EIGEN3
)

include_directories(
  include 
  ${catkin_INCLUDE_DIRS} 
  ...
)

add_library(new_policies_system
  src/Policy.cpp
  ...
)

target_link_libraries(new_policies_system 
  ${catkin_LIBRARIES} 
  ${EIGEN3_LIBRARIES}
)

add_dependencies(new_policies_system 
  ${catkin_EXPORTED_TARGETS}
)

Note I have replaced {PROJECT_NAME} with new_policies_system to be consistent across the library, linking, and dependencies.

package.xml should include:

<depend>social_layers</depend>

Package: social_layers

CMakeLists.txt should include:

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES person
  CATKIN_DEPENDS pal_detection_msgs 
)

add_library(person
  src/person.cpp
)

target_link_libraries(person 
  ${catkin_LIBRARIES} 
)

Note I have added a target_link_libraries for the person library. If you use any external code in person then you should keep this call in there. Only add the names of libraries you are creating in this package to the catkin_package LIBRARIES section. IE do NOT keep social_layers in there unless you have an add_library(social_layers src/path/to/code.cpp)

Final note when making changes to library names and CMakeLists in general. If you are experiencing strange behavior, try clearing out devel, build, and log directories. Just because you changed the name of something and recompile, the original probably still exists with the wrong name.

The ROS wiki has in depth info as well and is worth a read.