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First: roscreate-pkg does a bit more than create the Makefile. It will also produce manifest.xml mainpage.dox, a dummy CMakeLists.txt, etc.

For your question: Could you say what exactly you mean with "other packages"?

Is this other ROS packages? They should always have a ros like Makefile (or ROS_NOBUILD) and adding them to manifest.xml as a dependency is the right way to go.

Is this an external (= non-ROS) package? Then use the way tfoote described.

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