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First answer (ignore if you are bound to qmake): Don't use qmake. Qt works pretty good with CMake, see https://doc.qt.io/qt-5/cmake-manual.html and https://cmake.org/cmake/help/v3.0/manual/cmake-qt.7.html.

Second answer: I'm not familiar with qmake, but you have to set the include and library paths correctly. The include path has to be /opt/ros/<distro>/include, the libraries have to be specified manually, that means /opt/ros/<distro>/libs/libxxx.so and so on. Maybe you could paste your .pro file here for further help.