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As far as I know, you can't. Catkin packages ("wet", new-style) can only depend on catkin packages (or regular CMake) while stacks ("dry", old-style) can depend on other stacks (using rosbuild & manifest.xml) and catkin packages (using CMake). Thus the need to slowly convert packages from the bottom of the dependency chain upwards to "wet" packages, like a rising water level.

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