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The solution was to add

catkin_package(
  INCLUDE_DIRS include/${PROJECT_NAME}/
  LIBRARIES ${PROJECT_NAME}
  CATKIN_DEPENDS roscpp prophesee_event_msgs
)

before add_executable(...).

I'm having a hard time with following the modern CMake style and the custom-made ROS CMake extensions (which appear to follow more the old CMake style). Does anyone have a best practice for this? ROS2 seems to follow more the modern CMake style.

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