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You're missing a dependency on rcutils. You have an <exec_depend> only currently which says that the package needs to be available at runtime but not at build time. Thus rcutils is not provided when you try to build the package.

You should probably be declaring <depends> to get it at buildtime and at runtime.

If you have it in your workspace at build time CMake will find it. The debian builds are strict about only provisioning your declared dependencies.