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Just some comments:

find_package(Boost REQUIRED COMPONENTS system)
find_package(catkin REQUIRED COMPONENTS cmake_modules)
find_package(Eigen REQUIRED)

find_package(catkin REQUIRED COMPONENTS ..)

Not sure if this is the cause of your issue, but don't invoke find_package(..) twice (or more than once actually) with the same find script (in this case catkin). They are not cumulative, and depending on the implementation, results will be overwritten, or the second invocation will return early (and use cached, earlier results).

set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

Also not the cause of your issue, but this has been deprecated since the move to catkin.

include_directories(
  include
  ${ASGARD_HEADER_PATHS}
  ${Boost_INCLUDE_DIRS}
  ${catkin_INCLUDE_DIRS}
)

Any particular reason to duplicate this (include path is set right after the second find_package(catkin ..))?

Just some comments:

find_package(Boost REQUIRED COMPONENTS system)
find_package(catkin REQUIRED COMPONENTS cmake_modules)
find_package(Eigen REQUIRED)

find_package(catkin REQUIRED COMPONENTS ..)

Not sure if this is the cause of your issue, but don't invoke find_package(..) twice (or more than once actually) with the same find script (in this case catkin). They are not cumulative, and depending on the implementation, results will be overwritten, or the second invocation will return early (and use cached, earlier results).

set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

Also not the cause of your issue, but this has been deprecated since the move to catkin.

include_directories(include ${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})

[..]

include_directories(
  include
  ${ASGARD_HEADER_PATHS}
  ${Boost_INCLUDE_DIRS}
  ${catkin_INCLUDE_DIRS}
)

Any particular reason to duplicate this (include path is set right after the second find_package(catkin ..))?