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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
)