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In case this helps anyone, the solution was to include the target_link_libraries CMake command. Something like:

add_library(
    drive_hw_if
    SHARED
    src/drive_hw_if.cpp
)

target_link_libraries(
    drive_hw_if
    libgpiodcxx
)

Then include the library in the package.xml with the system install command, ie libgpiod-dev.

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