How to make a dynamic framework(Swift) based on two static libraries using Cocoapods

Finally, I've found the solution. So, in case someone run into similar issue, I post it here.

My podspec file except other lines contains following

#// one library added as dependency, another as vendored_frameworks
#// because it lacks modulemap, so it was added manually to IndooRS framework
spec.dependency 'IndoorAtlas'
spec.vendored_frameworks = 'SKNavigation/Frameworks/IndoorsSDK.framework'

#// following lines fix linking issues so our pod would see dependency modules
spec.pod_target_xcconfig = {
    'FRAMEWORK_SEARCH_PATHS' => '$(inherited) $(SRCROOT)/**',
    'OTHER_LDFLAGS' => '$(inherited) -undefined dynamic_lookup'
  }

And modulemap, that was added to the Framework that lacked it

module IndoorsSDK [system] {
    header "Headers/IndoorsSDK.h"
    header "Headers/Indoors.h"
    export *
    link framework "CoreMotion"
    link framework "CoreBluetooth"
    link "c++"
}

The latest point, podfile should contain following to hide transitive dependencies error.

pre_install do |installer|
    def installer.verify_no_static_framework_transitive_dependencies; end
end

And that's probably all.