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I am using a similar code template for rviz2 plugins and it works as expected. The only difference I've noticed is that I included header files to add_library macro. Like this :

 add_library(${PROJECT_NAME} SHARED
        ${${PROJECT_NAME}_SRCS}
        ${${PROJECT_NAME}_HDRS}
        ${${PROJECT_NAME}_UIS_H}
        ${${PROJECT_NAME}_MOCS}
        )

Also it is recommended to change the line below

<library path="/libprc_demo_panel" >

to

<library path="prc_demo_panel" >

for better portability. .