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"undefined reference" is a linker error, so it means that it does not find your *.so file, which is not surprising, since it does not search in the "include" directory for it (it's only for headers!)

You need to make the link directories known in your CMake:

https://cmake.org/cmake/help/v3.0/command/link_directories.html

So before adding your node target put

link_directories(/path/where/your/so/lies)

into your CMakeLists.txt

But just the directory patch. without the *.so file.

As an alternative you can specify it at runtime (just to try it out). Before launching your node, run in the shell:

export LD_LIBRARY_PATH=/path/where/your/so/lies

You need to run it every time you open a new shell.