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try setting in the cmake configuration (tools> options> Kits > (your kit) > cmake configuration) and be sure to start qtcreator from a bash with the ros environment configured

CATKIN_DEVEL_PREFIX:STRING=/home/<username>/catkin_ws/devel CATKIN_INSTALL_PREFIX:STRING=/home/<username>/catkin_ws/install CMAKE_PREFIX_PATH:STRING=/home/<username>/catkin_ws/devel;/opt/ros/kinetic CMAKE_CXX_COMPILER:STRING=%{Compiler:Executable:Cxx} CMAKE_C_COMPILER:STRING=%{Compiler:Executable:C} QT_QMAKE_EXECUTABLE:STRING=%{Qt:qmakeExecutable}