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I'll answer myself. You don't to write a FindFoo.cmake file nor use a find_package in you CMakeLists. The bug was, that my g2o wrapper didn't export the lflags correctly in it Manifest file. For my needs, it had to look like this:

<cpp cflags="-I${prefix}/include" lflags="-L${prefix}/lib -lg2o_stuff -lg2o_core -lg2o_solver_csparse -lg2o_csparse_extension"/>