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In manifest files of packages that export libraries, you can see something like this (taken from roscpp's maifest file):

<export>
  <cpp cflags="-I${prefix}/include `rosboost-cfg --cflags`" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lros `rosboost-cfg --lflags thr
</export>

With rospack export --lang=cpp --attrib=cflags roscpp you'll get the value of the attribute cflags as specified in roscpp's manifest.xml. cflags exports are used by CMake to build up all compiler flags for building a package, lflags are used for linker flags respectively.