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As per @gvdhoorn's suggestion, this was resolved by switching to PkgConfig to find the module. So now instead of find_package(yaml_cpp REQUIRED) I have

find_package(PkgConfig REQUIRED)
pkg_check_modules(YAML_CPP REQUIRED yaml-cpp)

I also needed to modify my include statement slightly to

include_directories(${YAML_CPP_INCLUDEDIR}

As per @gvdhoorn's suggestion, this was resolved by switching to PkgConfig to find the module. So now instead of find_package(yaml_cpp REQUIRED) I have

find_package(PkgConfig REQUIRED)
pkg_check_modules(YAML_CPP REQUIRED yaml-cpp)

I also needed to modify my include statement slightly to

include_directories(${YAML_CPP_INCLUDEDIR}
include_directories(${YAML_CPP_INCLUDEDIR})

where before it was include_directories(${YAML_CPP_INCLUDE_DIR}).

As per @gvdhoorn's suggestion, this was resolved by switching to PkgConfig to find the module. So now instead of find_package(yaml_cpp REQUIRED) I have

find_package(PkgConfig REQUIRED)
pkg_check_modules(YAML_CPP REQUIRED yaml-cpp)

I also needed to modify my include statement slightly to

include_directories(${YAML_CPP_INCLUDEDIR})

where before it was include_directories(${YAML_CPP_INCLUDE_DIR}).

This seems to work for both Debian and Ubuntu.