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The root of my problem actually lied in my use of orocos. Orocos actually requires to replace catkin_package by orocos_generate_package() and use ${USE_OROCOS_INCLUDE_DIRS} in addition to ${catkin_INCLUDE_DIRS}.

I already found CMake dirty (because of its lack of clear structure), then catkin added a layer of confusion with its needed redundancy, now I must admit the addition of the orocos build system requirements on top of the former two is a real pain.

Thanks for your help guys, you really helped!