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The Problem can be solved by changing "libmylibrary.so" to "mylibrary" in the following lines of CMakeLists.txt of Package A:
from:
catkin_package(
INCLUDE_DIRS include
LIBRARIES libmylibrary.so
CATKIN_DEPENDS roscpp rospy
# DEPENDS system_lib
)
to:
catkin_package(
INCLUDE_DIRS include
LIBRARIES mylibrary
CATKIN_DEPENDS roscpp rospy
# DEPENDS system_lib
)