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@Francisco Vina: As @Dirk Thomas mentioned, you can do so by providing the absolute path to the library so that you do not have to copy it to the devel space, and install it as usual to get it set up correctly in the install space.

Take a look at @William's answer here: http://answers.ros.org/question/66685/is-it-possible-to-create-a-catkin-package-to-provide-precompiled-libraries/

Example packages doing this a bit cleanly: https://github.com/ros-drivers/prosilica_gige_sdk https://github.com/utexas-bwi/rl_pursuit