To build the project select "Build Project" from the "Project" menu. The console should update and you can note the cross-compiler you are using.
Select the project.
Select "Folder" from the
File > New
menu.
In the "New Folder" Dialog, select "Link to alternate location (linked folder)".
Click "Browse" to navigate to the include folder inside the same sysroot location selected in the Yocto Project configuration preferences.
Click "OK".
Click "Finish" to save the linked folder.