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I found the solution to my problem:

As I was using my previous project it had some cache files from the previous buildings that were creating conflicts. I deleted them.

After I manage to pass that issue I found many undefined references due to some third party libraries I am using. I included those third-party libraries. The final CMakeLists.txt file looks like this:

cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Setup
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
rosbuild_init()

rosbuild_include(qt_build qt-ros)

# Call any of qt-ros' api, e.g.
rosbuild_prepare_qt4(QtCore QtGui QtNetwork)

#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#third party libraries
FIND_LIBRARY( SENSOR_LIBRARY sensor ${CMAKE_INSTALL_PREFIX}/lib )
FIND_LIBRARY( QDISPLAY_LIBRARY qdisplay ${CMAKE_INSTALL_PREFIX}/lib )

#uncomment if you have defined messages
#rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()

file(GLOB QT_FORMS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ui/*.ui)
file(GLOB QT_RESOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} resources/*.qrc)
file(GLOB_RECURSE QT_MOC RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS include/*.hpp src/client.h)

QT4_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})
QT4_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
QT4_WRAP_CPP(QT_MOC_HPP ${QT_MOC})

file(GLOB_RECURSE QT_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS src/*.cpp)


#file(GLOB_RECURSE QT_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS src/client.cpp src/main.cpp)

#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#rosbuild_add_library(cliento src/client.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
#rosbuild_add_executable(client src/main.cpp) 
rosbuild_add_executable(robot_client ${QT_SOURCES} ${QT_RESOURCES_CPP} ${QT_FORMS_HPP} ${QT_MOC_HPP})
target_link_libraries(robot_client ${QT_LIBRARIES} ${SENSOR_LIBRARY} ${QDISPLAY_LIBRARY})
#target_link_libraries(example ${PROJECT_NAME})

I did not change the manifest file.