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Although the discussion of my original question has changed my approach, here is the answer to my question. Full disclaimer, I'm not an expert at CMake or even c/l flags, so there may be an even better answer.

The export line in the manifest should be changed to the following:

<export> <cpp cflags="-I${prefix}/include -DROS=1" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib" /> </export>

Any package that requires the library now must explicitly state which library it wants to use in CMakeLists.txt, ex:

rosbuild_add_executable(my_exe src/my_exe.cpp)

target_link_libraries(my_exe my_lib) OR target_link_libraries(my_exe my_lib)

Although the discussion of my original question has changed my approach, here is the answer to my question. Full disclaimer, I'm not an expert at CMake or even c/l flags, so there may be an even better answer.

The export line in the manifest should be changed to the following:

<export> <cpp cflags="-I${prefix}/include -DROS=1" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib" /> </export>

Any package that requires the library now must explicitly state which library it wants to use in CMakeLists.txt, ex:

rosbuild_add_executable(my_exe src/my_exe.cpp)

target_link_libraries(my_exe my_lib) OR target_link_libraries(my_exe my_lib)

Although the discussion of my original question has changed my approach, here is the answer to my question. Full disclaimer, I'm not an expert at CMake or even c/l flags, so there may be an even better answer.

The export line in the manifest should be changed to the following:

<export> <cpp cflags="-I${prefix}/include -DROS=1" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib" /> </export>

Any package that requires the library now must explicitly state which library it wants to use in CMakeLists.txt, ex:

rosbuild_add_executable(my_exe src/my_exe.cpp)

target_link_libraries(my_exe my_lib) OR target_link_libraries(my_exe my_lib)my_lib_alternate)

This goes against the recommended approach here.