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Another problem was this, from package B CMakeLists:

include_directories(
${catkin_INCLUDE_DIRS}
${killer_utils_lib_INCLUDE_DIRS}

You don't need the include of ${killer_utils_lib_INCLUDE_DIRS} -- ${catkin_INCLUDE_DIRS} takes care of it

Another problem was this, from package B CMakeLists:

include_directories(
${catkin_INCLUDE_DIRS}
${killer_utils_lib_INCLUDE_DIRS}

You don't need the include of ${killer_utils_lib_INCLUDE_DIRS} -- ${catkin_INCLUDE_DIRS} takes care of it