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If you do not use catkin you do have to make cmake/your linker aware of where your libmycustomlib.so is placed (as long as it is not in /usr/lib or something like that). You can do this using the link_directories() command

link_directories( /path/to/my/custom/lib )

Note that catkin usually puts the shared library files into <catkin_workspace>/devel/lib/ ...