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There are a couple things which confuse me about your post:

1. you don't say anything about the OS you're using (although it's likely a Debian/Ubuntu (derivative), because of the use of apt)
2. you tagged this noetic, but the install ros-geometry-msgs, which is not a package in ROS Noetic (as that would be called ros-noetic-geometry_msgs)
3. you show paths to /usr, which are not normally paths used by / present in ROS distribution packages
4. you also show paths to /opt/ros/noetic, which is indeed where normal ROS Noetic package would end up

All-in-all, it's a bit of a mess.

Could it be you've (inadvertently) installed some UpstreamPackages?

If so, and you did not intent do: I'd suggest removing them and installing their Noetic counterparts.

If this is an OS that doesn't have binary packages of ROS Noetic and you used the upstream packages on purposes: don't mix-and-match. It doesn't work (reliably) as you've found out.

Also: don't manually manipulate your CMAKE_PREFIX_PATH. If you find you have to do that, something else is not configured correctly. Manually changing it is not the solution.

PS: and pedantic, but: "CMake can't find geometry_msgs [..]", not "Catkin can't find [..]". It's all CMake. This has nothing to do with Catkin.

There are a couple things which confuse me about your post:

1. you don't say anything about the OS you're using (although it's likely a Debian/Ubuntu (derivative), because of the use of apt)
2. you tagged this noetic, but the install ros-geometry-msgs, which is not a package in ROS Noetic (as that would be called ros-noetic-geometry_msgs)
3. you show paths to /usr, which are not normally paths used by / present in ROS distribution packages
4. you also show paths to /opt/ros/noetic, which is indeed where normal ROS Noetic package would end up
5. you appear to be manually specifying absolute include paths using add_compile_options(..). That's never really a good idea, but probably an attempt to get things working?

All-in-all, it's a bit of a mess.messy.

Could it be you've (inadvertently) installed some UpstreamPackages?

If so, and you did not intent do: I'd suggest removing them and installing their Noetic counterparts.

If this is an OS that doesn't have binary packages of ROS Noetic and you used the upstream packages on purposes: don't mix-and-match. It doesn't work (reliably) as you've found out.

Also: don't manually manipulate your CMAKE_PREFIX_PATH. If you find you have to do that, something else is not configured correctly. Manually changing it is not the solution.

PS: and pedantic, but: "CMake can't find geometry_msgs [..]", not "Catkin can't find [..]". It's all CMake. This has nothing to do with Catkin.

There are a couple things which confuse me about your post:

1. you don't say anything about the OS you're using (although it's likely a Debian/Ubuntu (derivative), because of the use of apt)
2. you tagged this noetic, but the install ros-geometry-msgs, which is not a package in ROS Noetic (as that would be called ros-noetic-geometry_msgs)
3. you show paths to /usr, which are not normally paths used by / present in ROS distribution packages
4. you also show paths to /opt/ros/noetic, which is indeed where normal ROS Noetic package would end up
5. you appear to be manually specifying absolute include paths using add_compile_options(..). That's never really a good idea, but probably an attempt to get things working?

All-in-all, it's a bit messy.

Could it be you've (inadvertently) installed some UpstreamPackages?

If so, and you did not intent do: to: I'd suggest removing them and installing their Noetic counterparts.

If this is an OS that doesn't have binary packages of ROS Noetic and you used the upstream packages on purposes: don't mix-and-match. It doesn't work (reliably) as you've found out.

Also: don't manually manipulate your CMAKE_PREFIX_PATH. If you find you have to do that, something else is not configured correctly. Manually changing it is not the solution.

PS: and pedantic, but: "CMake can't find geometry_msgs [..]", not "Catkin can't find [..]". It's all CMake. This has nothing to do with Catkin.

There are a couple things which confuse me about your post:

1. you don't say anything about the OS you're using (although it's likely a Debian/Ubuntu (derivative), because of the use of apt)
2. you tagged this noetic, but the then install ros-geometry-msgs, which is not a package in ROS Noetic (as that would be called ros-noetic-geometry_msgsros-noetic-geometry-msgs)
3. you show paths to /usr, which are not normally paths used by / present in ROS distribution packages
4. you also show paths to /opt/ros/noetic, which is indeed where normal ROS Noetic package would end up
5. you appear to be manually specifying absolute include paths using add_compile_options(..). That's never really a good idea, but probably an attempt to get things working?

All-in-all, it's a bit messy.

Could it be you've (inadvertently) installed some UpstreamPackages?

If so, and you did not intent to: I'd suggest removing them and installing their Noetic counterparts.

If this is an OS that doesn't have binary packages of ROS Noetic and you used the upstream packages on purposes: don't mix-and-match. It doesn't work (reliably) as you've found out.

Also: don't manually manipulate your CMAKE_PREFIX_PATH. If you find you have to do that, something else is not configured correctly. Manually changing it is not the solution.

PS: and pedantic, but: "CMake can't find geometry_msgs [..]", not "Catkin can't find [..]". It's all CMake. This has nothing to do with Catkin.