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The manufacturer's documentation should describe how to link against their package.

If you're trying to link a catkin package against another catkin package, you can simply add that package as a dependency in your package.xml and add it as a component to find_package(catkin REQUIRED COMPONENTS ...) in your cmakelists.

If you're trying to link a catkin package against a system package, you should look into the cmake find_package() command.

It looks like there are already ROS wrappers for the youbot; you might want to check those out as well: http://wiki.ros.org/youbot_driver and http://wiki.ros.org/youbot_common