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Your include_directories() also include wrong variables. It should be
${catkin_INCLUDE_DIRS}
It might work for you since orocos_kdl_INCLUDE_DIRS might point to the same path.
Generally if you are unsure about some variables names it help to just output them in order to verify that you named them correctly and that they contain the right information:
message("DEBUG variable catkin_INCLUDEDIR: ${catkin_INCLUDEDIR}")
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