I believe `build_export_depends` includes libraries dynamically linked by libraries you export as well as libraries included by headers you export.
It's also worth noting that for some packages, the `build_depend` key may be different from the `exec_depend` key. The most common case of this is that many system packages have a `libfoo` and `libfoo-dev` where the latter includes headers. The headers are needed to build, but not to run. Of course, not all packages have both rosdep keys declared, and there're a lot of lazy dependencies on `libfoo-dev`.
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