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I've just had a closer look at your CMakeLists.txt file and I think you haven't defined the target link libraries for the executable. you have the following line which sets them for the libraries:

target_link_libraries(my_snake_robot_lib ${catkin_LIBRARIES})

But you need to add another line as below to add them for the executable as well:

target_link_libraries(${my_snake_robot}_node ${catkin_LIBRARIES})

This should get this package building properly.