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I've tried your code, and it compiles for me without problems. I had to change two small things so it compiles, but here's the finished version: Github Gist.

Try it like this:

mkdir ~/test
cd ~/test
git clone https://gist.github.com/5813581.git obstacle_detection
git clone git://github.com/IHeartEngineering/ar_tools.git
source /opt/ros/fuerte/setup.sh
export ROS_PACKAGE_PATH=~/test:$ROS_PACKAGE_PATH
rosmake obstacle_detection

This is how your environment should look like:

$ env | grep ROS
ROS_ROOT=/opt/ros/fuerte/share/ros
ROS_PACKAGE_PATH=~/test:/opt/ros/fuerte/share:/opt/ros/fuerte/stacks
ROS_MASTER_URI=http://localhost:11311
ROS_ETC_DIR=/opt/ros/fuerte/etc/ros
ROS_DISTRO=fuerte
ROSLISP_PACKAGE_DIRECTORY=/opt/ros/fuerte/share/common-lisp/ros