Do plain cmake packages need to handle pkg-config file generation?

edit

@joq and I are working on improving the current libsegwayrmp release from @William.

It seems like the current release does not generate a pkg-config file. Consequently, any dependency on this package fails. On the other hand, the libfreenect release works fine, as pkg-config file generation was already handled upstream. This worked out of the box while building the package with catkin_make_isolated.

Should I setup libsegwayrmp to do something similar? Or is there an alternative I am not aware about?

Thanks!!

Edit #1

Based on @William's answer, here's a second question. Can a rosbuild package depend on a plain-cmake package? If yes, then can it use find_package or only pkg-config is supported? This is the error I get trying to build segway_rmpX (currently dry) with the current libsegwayrmp wet release.

Failed to invoke /opt/ros/groovy/bin/rospack cflags-only-I;--deps-only segway_rmpX
Package libsegwayrmp was not found in the pkg-config search path.
Perhaps you should add the directory containing `libsegwayrmp.pc'
to the PKG_CONFIG_PATH environment variable