UPDATE

CMakeLists.txt

@@ -17,6 +17,7 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 
 # Find dependencies
 find_package(GTest REQUIRED)
+find_package(Threads REQUIRED)
 
 if (NOT BUILDING_WITH_CATKIN)
 
@@ -65,7 +66,9 @@ if(BUILDING_WITH_CATKIN)
   )
 
   target_link_libraries(${PROJECT_NAME}
-    PUBLIC ${catkin_LIBRARIES}
+    PUBLIC
+      ${catkin_LIBRARIES}
+      Threads::Threads
   )
 
 else()
@@ -76,6 +79,11 @@ else()
       $<INSTALL_INTERFACE:include>
   )
 
+  target_link_libraries(${PROJECT_NAME}
+    PUBLIC
+      Threads::Threads
+  )
+
   set_target_properties(${PROJECT_NAME} PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
     BUILD_RPATH "${CMAKE_BINARY_DIR}"