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Try using URL instead of SOURCE_DIR and ${CMAKE_CURRENT_SOURCE_DIR} instead of ${PROJECT_SOURCE_DIR}.

include(ExternalProject)
ExternalProject_Add(ardronelib
    URL ${CMAKE_CURRENT_SOURCE_DIR}/ardronelib
    PREFIX ${CATKIN_DEVEL_PREFIX}
    CONFIGURE_COMMAND echo "No configure"
    BUILD_COMMAND make
    INSTALL_COMMAND make install INSTALL_PREFIX=${CATKIN_DEVEL_PREFIX}/lib/
    BUILD_IN_SOURCE 1
)