Linking library with node in same package

edit

I have the following in my CMakeLists.txt

project(robot)
...
add_library(${PROJECT_NAME} src/Robot.cpp)
ament_target_dependencies(${PROJECT_NAME} rclcpp)

add_executable(node src/node.cpp)
ament_target_dependencies(node ${PROJECT_NAME} ${PROJECT_NAME}_msgs rclcpp) # <--- this line

However, when compiling with colcon build, it gives the following error

ament_target_dependencies() the passed package name 'robot' was not found

for the highlighted line.

How do I let nodes use libraries that were compiled in the same package?

With ROS1 catkin, this was done with the following lines

add_dependencies(node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(node ${PROJECT_NAME} ${catkin_LIBRARIES})

which I assume is now combined into a single ament_target_dependencies()?