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You first need to use add_library() in package A. In package B you will need an add_executable().

After that is done you need to tell CMake about the dependency between both using:

add_dependencies(myexecutable ${catkin_EXPORTED_TARGETS})

You first need to use add_library() in package A. In package B you will need an add_executable().

After that is done you need to tell CMake about the dependency between both using:

add_dependencies(myexecutable ${catkin_EXPORTED_TARGETS})

Please consider reading the catkin tutorials as well as documentation: http://wiki.ros.org/catkin/Tutorials and http://docs.ros.org/api/catkin/html/