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Hi,

when using gazebo with ROS you have to do some different steps when building your plugin.

1. add the dependency gazebo_plugins to the manifest.xml of your package <depend package="gazebo_plugins"/> (I also added gazebo as dependency, but I think you don't need it to compile the plugin)
2. use rosmake to build the plugin There should be a tutorial for building packages somewhere on ros.org in case you don't know how. In short: add "rosbuild_add_library(libname src/sourcefile.cpp)" to the CMakeList.txt and run rosmake.

I think rosmake uses it's own cmake version or settings that adds the directories of dependent packages to the compiler flags. You could add additional include directories to your cmake file, but that's not the "ros way".