Is the Pascal library you're developing specific to iOS or can it be compiled for, say, OS X too. If it's not iOS-specific (for example, does not depend on any iOS frameworks, only FPC RTL), then you can probably do the development with Lazarus, per usual.
A good way of debugging Pascal library code is to compile it into a standalone program in addition to a library. Then you can debug the program per usual as well. For example, in the ndfd example library from the article series above, the source includes a testndfd.pas program that just compiles in the NdfdForecast.pas unit rather than loading the library.
If your library is iOS-specific, then I would not use Lazarus, except perhaps as a code editor. The development of the iOS app that uses the library would likely be done with Xcode, so that's where I would work as much as possible.
-Phil