In the header only package:
header_only_package/CMakeLists.txt
cmake_minimum_required(VERSION 3.1)
project(header_only_package)
set(CMAKE_CXX_STANDARD 17)
find_package(catkin REQUIRED)
catkin_package(
INCLUDE_DIRS include
)
include_directories(include ${catkin_INCLUDE_DIRS})
add_definitions(${catkin_DEFINITIONS})
install(DIRECTORY include ${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
)
header_only_package/package.xml
<package>
<name>header_only_package</name>
<version>0.0.0</version>
<description>The header_only_package package</description>
<author email="email@gmail.com">Name</author>
<maintainer email="email@gmail.com">Name</maintainer>
<license>BSD-3</license>
<buildtool_depend>catkin</buildtool_depend>
</package>
In the package that uses it:
using_header_only_package/CMakeLists.txt
...
find_package(catkin REQUIRED COMPONENTS
...
header_only_package
)
...
You do not have to include header_only_package in the using_header_only_package/package.xml manifest.