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Hello,
In this repo you will find some basic ROS 2 examples. For example you should have a look to this CMakeLists.txt.
You should find_package:
find_package(rclcpp REQUIRED)
And then if it's a ROS 2 dependency, you should link against it
ament_target_dependencies(<you target name> rclcpp )
If it's not a ROS 2 dependency, then you should use the CMake functions. Like target_link_libraries or target_include_directories.
Regards
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