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..

add_executable(example src/example.cpp)
target_link_libraries(example ${catkin_LIBRARIES})

...

catkin_package(
   ...
)

Please move the add_executable(..) and target_link_libraries(..) lines below the catkin_package(..) line. Delete your build and devel folders and rebuild your workspace. That should make things work.

This is slightly unintuitive, but it is documented. See wiki/catkin - CMakeLists.txt - Overall Structure and Ordering on the ROS wiki.

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