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Try exporting the full path to the archive library from package B, e.g.:

 <export>
   <cpp cflags="-I${prefix}/include" lflags="${prefix}/lib/libB.a"/>
 </export>

That does the trick for me.

To have the correct dependencies setup, CMake needs to know that it's an archive library, instead of a shared library. It can't do this from a -lfoo argument, but it can do it from a full path to libfoo.a. In fact, the emerging best practice for CMake is to always give it the full path to libraries.