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Howdy,

I had the same problem, right down to the echo ${CMAKE_PREFIX_PATH} showing up in the terminal, but not in the QT Creator called in the same terminal.

Setup: Kintetic Ubuntu 16.04

My solution was:

• Follow the steps here: http://wiki.ros.org/IDEs#QtCreator section 4.3
• New File or Project -> Import Project -> Import Existing Project
• Select the ~/workspace/src/package folder
• Add the CMakeList.txt
• On the side bar, click on Projects, and under Build Environment, add a new CMAKE_PREFIX_PATH variable that is the same as the one pointed to by echo ${CMAKE_PREFIX_PATH}, it should be something like /opt/ros/kinetic.
• Also had to had the Run Environment Variable ROS_MASTER_URI and set it to http://localhost:11311 or else the package crashes at pos::init

After this, I was able to build, and debug by pointed to the program in the ~/workspace/devel/lib folder.

Hope this helps!

EDIT - Added additional step regarding ROS_MASTER_URI