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Hello Roboticus,
I have added these lines for a ros project using the LabJack U3 Modul. It also has a separate library.
As you can see the library is written without the pre-string "lib" and without the version number and type at the end. So the filename "liblabjackusb.so.2.5.2" will become -> "labjackusb".
The command you used: include_directories(/home/user/my_lib_orocos) is more or less to describe where the header files are.
Hope this helps you with your problem.
Best regards, zumili