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Since you used FILES to generate the header files, you should find the .h files generated in the following directory: ~/catkin_demo_ws/devel/include/waypoint_node/

Generally: ~/ws/devel/include/project_name_as_listed_in_the_CMakeLists_file

and since you used:

include_directories(
        ${catkin_INCLUDE_DIRS}                                                           
    )

you can directly include files in the ~/ws/devel/include/ directory, as follows:

#include "waypoint_node/GoToHeight.h"

The problem simply for your case is that you're using a wrong project name "waypoint_navigator"