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The easiest and simplest way to accomplish this to make a wrapper around libicp. You can follow catkin tutorials on creating a library file here (http://docs.ros.org/jade/api/catkin/html/howto/format2/building_libraries.html) After you have created this library you can just use add_library macro in your CMakelist.txt file. Now when you will add header files from libicp it wont create any issue. If you need more help in it you can contact me at zainmehdi at koreatech.ac.kr