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The exported variable <pkgname>_LIBRARIES should contain the library downstream packages are commonly supposed to use. In your case I would say the non-test library.

Your package can optionally define any arbitrary CMake variable. So it could set a variable <pkgname>_TEST_LIBRARIES. Since this is not a "standard" use case you need to do that in your own CMake file which you can register using the CFG_EXTRAS argument of the catkin_package function. Downstream packages must than choose to use that CMake variable instead in order to get the test version of your libraries.