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Edit:

Adding resource_retriever to find_package did the trick. But still when I include something like this, how do I know what to add to the CMakeLists.txt

As to your specific question "what to add to CMakeLists.txt": in case of C++ and Python the rule is relatively straightforward: if you use anything from a package, that package becomes a dependency of your package.

In those cases you have to add the dependency to your package.xml and your CMakeLists.txt if you are working in C++.

If you are using Python, only the package.xml needs to be updated (as Python doesn't have any build dependencies (or at least: regular, simple Python packages don't)).

See the Catkin documentation on the general subject.