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In Ubuntu 11.10, the --as-needed flag was enabled by default. You just need to link everything in the proper order. http://ubuntuforums.org/showthread.php?p=11395419#post11395419

Make sure you link everything properly in your manifest.xml. Here was the fix for laser_drivers. Note how pthread is linked here (in the library's package).

<cpp lflags="-Wl,-rpath,${prefix}/sicktoolbox/lib -L${prefix}/sicktoolbox/lib -lsicklms-1.0 -lpthread" cflags="-I${prefix}/sicktoolbox/include"/>

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