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In the client package you need to find_package your 'HeaderProjectName', something like this will add the includes path from HeaderProjectName:
find_package(catkin REQUIRED COMPONENTS HeaderProjectName <other packages here>)
include_directories(${catkin_INCLUDE_DIRS})
An alternative method is that you can find_package HeaderProjectName directly:
find_package(HeaderProjectName REQUIRED)
include_directories(${HeaderProjectName_INCLUDE_DIRS})
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