Cannot compile pinocchio-related packages except for ocs2_pinocchio_interface

I am currently trying to compile ocs2 with pinocchio. The ocs2_pinocchio_interface has been successfully compiled.

Finished  <<< ocs2_pinocchio_interface   

But when compiling other pkgs such as ocs2_self_collision, it reports:

CMake Error at /home/harper/Apps/ocs2_ws/devel/share/ocs2_pinocchio_interface/cmake/ocs2_pinocchio_interfaceConfig.cmake:173 (message):
  Project 'ocs2_self_collision' tried to find library 'pinocchio'.  The
  library is neither a target nor built/installed properly.  Did you compile
  project 'ocs2_pinocchio_interface'? Did you find_package() it before the
  subdirectory containing its code is included?

By checking the cmake cache of ocs2_pinocchio_interfaces, I can see the pinocchio lib file is found. What can I do to continue the compilation?

I removed the DEPENDS pinocchio in related packages and the compilation works.
But I found in ocs2_mobile_manipulator example there is no pinocchio_INCLUDE_DIRS in include_directories. For robust purpose, I suggest adding pinocchio_INCLUDE_DIRS