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There is not much magic going on behind the lines. The usual includes that are added by the ROS system are: /opt/ros/distro/include and anything that a depend package exports (usually include in the package).

For what you are trying to do: Don't! This will NOT fix your problem. Something has changed somewhere. Copying the old headers will most likely not turn back this change. The underlying code the headers referred to is still missing. Even if you also added that you'd probably gain something incompatible.