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If you have the library source files you can add a library to your workspace adding the following lines to the CMakeLists.txt of the node you want to use the library.

#Declare a cpp library  
add_library(my_library directory/of/source/my_library.cpp)

#This line has to be after the add_executable()  
target_link_libraries(my_node my_library)

Since the library is loaded in the workspace, you only need to add_library() once. For next nodes only use target_link_linbraries()