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I have no knowledge about scons, but the following might be helpful whatever you want to integrate ROS 2 packages into:
ament_cmake packages automatically generate CMake config files. You can query the information provided by those through the CMake command line tool.
The compiler arguments required to build against a specific ROS 2 can be queries with:
cmake --find-package -DNAME=rclcpp -DCOMPILER_ID=GNU -DLANGUAGE=CXX -DMODE=COMPILE
The linker arguments can be retrieved with a similar command:
cmake --find-package -DNAME=rclcpp -DCOMPILER_ID=GNU -DLANGUAGE=CXX -DMODE=LINK
If you depend on multiple package you will have to query the arguments for each of them.
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