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Can you try to search for Boost in a separate find_package() call?
According to CMake documentation, the syntax is
find_package(<package> [version] [EXACT] [QUIET] [MODULE]
[REQUIRED] [[COMPONENTS] [components...]]
[OPTIONAL_COMPONENTS components...]
[NO_POLICY_SCOPE])
Since Boost is a separate package, and not a component of the catkin package, I believe you should search for it separately:
find_package(
catkin
REQUIRED COMPONENTS roscpp rospy std_msgs
)
find_package(
Boost
REQUIRED COMPONENTS algorithm
)