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After being pointed to the right links, found out that it is best practice to always use catkin_EXPORTED_TARGETS for any pkg that depends on any ROS message, service, etc... pkg1_EXPORTED_TARGETS is a subset of catkin_EXPORTED_TARGETS pkg1_generate_messages_cpp is also a subset of catkin_EXPORTED_TARGETS

After being pointed to the right links, found out that it is best practice to always use catkin_EXPORTED_TARGETS for any pkg that depends on any ROS message, service, etc... pkg1_EXPORTED_TARGETS is only required if pkg1 creates new messages, actions, headers, etc.. (non libs) pkg1_generate_messages_cpp is a subset of catkin_EXPORTED_TARGETS pkg1_generate_messages_cpp is also a subset of catkin_EXPORTED_TARGETSpkg1_EXPORTED_TARGETS catkin_EXPORTED_TARGETS does NOT include messages, actions, headers, etc... from the current project