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You should make sure of the following:

The CMakeLists.txt of the my_lib package has catkin_package(INCLUDE_DIRS include...), include_directories(include...), and the install(...) function call inside
Parameters.h is in <workspace>/src/my_lib/include/my_lib/. Notice the two occurrences of "my_lib"
Relevant files in the my_main package have the correct include statement #include "my_lib/Parameters.h"

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