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Are you referring to the following error message of catkin: https://github.com/ros/catkin/blob/groovy-devel/cmake/catkin_package.cmake#L214 ?

It uses the CMake variable ${PROJECT_NAME}_RUN_DEPENDS which is available after you invoked catkin_package() (or catkin_package_xml()). It provides all the keys for run_depend from the package.xml file.