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I still have not found how to get rosmake to call cmake, but copying a Makefile from a dummy package created with roscreate-pkg solves part of the problem. In fact, it's not even necessary to call roscreate-pkg because the Makefile has only this line:

include $(shell rospack find mk)/cmake.mk

With this Makefile in the package directly (not in the src folder), I can call make and rosmake and it always works. Unfortunately, it does not solve the problem of other packages (dependencies) not having Makefiles.