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I generally run M-x compile and replace the "make -k" in the minibuffer with:

 cd ../..; rosmake

From then on it will remember your last compile command, and C-x ` works as usual.

You need to use the right number of ".." references to reach the top of your package. Rosmake does not work from a subordinate directory.

I'd love to hear a more elegant solution, but that works OK for me.

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