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The error message

In file included from /tmp/buildd/ros-groovy-p2os-driver-1.0.0-2oneiric-20130623-2135/src/p2osnode.cc:29:0:
/tmp/buildd/ros-groovy-p2os-driver-1.0.0-2oneiric-20130623-2135/include/p2os.h:46:42: fatal error: diagnostic_updater/publisher.h: No such file or directory

indicates that your package does not set the include_directories() correctly. Please see http://ros.org/doc/groovy/api/catkin/html/howto/catkin_library_dependencies.html#include-directories for an example how to add the include directories of packages you depend on.