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Fixed by adding obstacle_detector_core to the install target, and adding the libraries names in catkin_package LIBRARIES field.

catkin_package(
  INCLUDE_DIRS
    include
  LIBRARIES
    obstacle_detector
    obstacle_detector_core
    obstacle_detector_single_scan
    collision_avoidance
  CATKIN_DEPENDS
    roscpp
    sensor_msgs
    shape_msgs
  DEPENDS
)

install(TARGETS
    obstacle_detector
    obstacle_detector_core
    obstacle_detector_single_scan
    collision_avoidance
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)