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The strategy proposed by William works well with catkin_make_isolated and catkin build, where multiple CMake projects exist, and the dependency is built before it is required. It however breaks under catkin_make, where there is a single CMake project and the dependency has not yet been built when it is required (hence find_library fails). For completeness, I have put together a a slightly modified version that is compatible with both single- and multi-CMake projects:

CMakeLists.txt

catkin_package(
  ...
  LIBRARIES # NOTE: Not specified here, but in extras file
  CFG_EXTRAS foo-extras.cmake
)

foo-extras.cmake.in

find_library(@PROJECT_NAME@_LIBRARY
            NAMES @PROJECT_NAME@
            PATHS "${@PROJECT_NAME@_DIR}/../../../@CATKIN_GLOBAL_LIB_DESTINATION@/funky/path/to/foo"
            NO_DEFAULT_PATH)

if(@PROJECT_NAME@_LIBRARY)
  # Multiple CMake projects case (i.e. 'catkin build'):
  # - The target has already been built when its dependencies require it
  # - Specify full path to found library
  list(APPEND @PROJECT_NAME@_LIBRARIES ${@PROJECT_NAME@_LIBRARY})
else()
  # Single CMake project case (i.e. 'catkin_make'):
  # - The target has not been built when its dependencies require it
  # - Specify target name only
  list(APPEND @PROJECT_NAME@_LIBRARIES @PROJECT_NAME@)
endif()