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I just found a solution. I added the following lines to CMakeList.txt

link_directories (/home/grega/ros_workspace/perception_pcl_electric_unstable/pcl/lib) rosbuild_add_library(Detector src/preprocessing_tracking.cpp) include_directories(/home/grega/ros_workspace/perception_pcl_electric_unstable/pcl/include) target_link_libraries(Detector pcl_tracking)

Now it builds successfully.

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