How to solve the 'undefined reference to libusb' error in ros?

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I am trying to transfer a camera(non-uvc) stream program to ros platform.

I've already got the camera driver running

and Makefile is like this:

g++ main.cpp -o test_gui -g -I /usr/local/include -L /usr/local/lib -D_LIN -D_DEBUG -L../lib/x64 -I../include -lASICamera -lpthread -lusb -DGLIBC_20 -m64 -lrt -I/opt

Now I want to do this in a ros node, so I write a node in which the CMakelists is like this:

include_directories( ${catkin_INCLUDE_DIRS} )

include_directories(/usr/local/include)

include_directories(/root/catkin_ws/src/asi_converter_real/include/asi_converter_real)

link_directories(/usr/local/lib)

link_libraries(pthread)

link_libraries(usb)

link_libraries(libASICamera.a)

link_libraries(libASICamera.so)

add_executable(asi_converter_real src/asi_converter_real.cpp)

target_link_libraries(asi_converter_real ${catkin_LIBRARIES})

And the Makefile line generated into /catkin_ws/build/*/ is like this:

/usr/bin/c++ CMakeFiles/asi_converter_real.dir/src/asi_converter_real.cpp.o -o /root/catkin_ws/devel/lib/asi_converter_real/asi_converter_real -rdynamic -L/usr/local/lib -lpthread -lusb -Wl,-Bstatic -lASICamera -Wl,-Bdynamic -lASICamera

But it seems that the system cannot find the dynamic libraries of libusb, coz' it reports

undefined reference to `libusb_set_configuration'

undefined reference to `libusb_claim_interface'

/usr/local/lib/libASICamera.a(ASI174MM.o): In function `WorkingFunc(void*)':

undefined reference to `libusb_bulk_transfer'

undefined reference to `libusb_bulk_transfer'

[1]Could anyone tell me how to solve this problem ?

[2]How to find the .a and .so of libusb in my computer ? (I am sure I have them, coz' I can pkg-config --cflags/--libs them)

[3]How could I explicitly link a dynamic library in ros CMakelists ? or just link_libraries(usb) is enough for both static and dynamic libriries ?