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I am having the same problem building ROS Jade on fedora. (same error message in the geometric_shapes package, same command as amitoj uses)
I have installed all the assimp packages:
Package assimp-3.1.1-5.fc23.x86_64 is already installed, skipping.
Package assimp-devel-3.1.1-5.fc23.x86_64 is already installed, skipping.
... and that is right assimp-devel-3.1.1 does not include aiScene.h. But I found /usr/include/assimp/scene.h, that seems to be the same file, there is a comment:
@file aiScene.h
[Edit] looking closer into the code it seems ASSIMP_UNIFIED_HEADER_NAMES is not set. Setting it manually helps.
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