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Depending on what you want to achieve, you don't need to do anything ROS specific. You could just use normal cmake commands you would use for any other library.
This would be OK, if the library can usually be installed as a system library. In that case it is could practice to setup rosdep so the library can be found by ROS.
On the other hand, if the library can't easily be installed in general, you would need to wrap it into a ROS package.
Look here: Third Party Libraries
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