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Can you try to search for Boost in a separate find_package() call?

According to CMake documentation, the syntax is

find_package(<package> [version] [EXACT] [QUIET] [MODULE]
         [REQUIRED] [[COMPONENTS] [components...]]
         [OPTIONAL_COMPONENTS components...]
         [NO_POLICY_SCOPE])

Since Boost is a separate package, and not a component of the catkin package, I believe you should search for it separately:

find_package(
  catkin
  REQUIRED COMPONENTS roscpp rospy std_msgs
)

find_package(
  Boost
  REQUIRED COMPONENTS algorithm
)