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As per @Maarten 's suggestion, updating the CMakeLists.txt as follows, seems to have solved the issue

cmake_minimum_required(VERSION 2.8.3)
project(c_test)
find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  roscpp
  sensor_msgs
  std_msgs
  tf
)
find_package(OpenCV REQUIRED)
catkin_package(
CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs
)
include_directories(
  ${catkin_INCLUDE_DIRS}
)
add_executable(c_test_node src/c_test_node.cpp)
target_link_libraries(c_test_node ${OpenCV_LIBS} ${catkin_LIBRARIES})