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You can add an if - Else - endif clause in your CMakeLists.txt using a self defined variable, e.g. IS_RASP, with different target_link_libraries commands in if and Else.

When calling Into catkin_make you can call it without additional arg on your Host anderen with catkin_make -DIS_RASP=1 in your device. Note you can pass Command Line args to cmake when calling it via catkin_make using the -D Just Like you would so in plain cmake.