Using ament_cmake and Vendor Libraries

Hello, I am trying to get the ROS2 CMake build system to work with some vendor libraries. They basically distribute a set of shared libraries and some header files. The issue I am running into is dynamic linker errors, mainly because some of the Shared Objects depend on each other. Eg:

- A.so
-- B.so
-- C.so

By playing with CMake Rpath rules, I can get my executable to link to A.so on Linux, but then on loading A.so cannot find B or C even though they are all in the same install directory due to Linux dynamic library search path rules. I could in theory use something like patchelf to point A.so to my install directory but that feels hacky. Is there a better way?