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I got some help from my boss. I ended up reverting to a version CMakeLists.txt before I made the changes I said in the original questions. I typed in the following lines at the end of CMakeLists.txt:

find_package( PkgConfig REQUIRED )
pkg_check_modules( ncurses++ REQUIRED ncurses++ )
add_executable(odg_control_keyboard_august_26 src/odg_control_keyboard_august_26.cpp)
target_link_libraries(odg_control_keyboard_august_26 ${catkin_LIBRARIES} ncurses)
add_dependencies(odg_control_keyboard_august_26 ${catkin_EXPORTED_TARGETS} odg_control_keyboard_august_26_gencpp)

I also ended up keeping <build_depend>ncurses++</build_depend> and got rid of <run_depend>ncurses++</run_depend>. Afterwards, I stopped getting the error messages, and the program now works the way I want it to.