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I found a hack, rather than a solution. I do not know anything about the dynamic linking of the unmarshalled objects at runtime, I only put this line:
include_directories($ENV{G2O_FRONTEND_ROOT}/ros_packages/robot_eye_driver/msg_gen/cpp/include
in the CMakeLists.txt of the package, because I know that the environment variable for G2O_FRONTEND is set. Alternatively, any other way to find the correct package should work, so that you can replace $ENV{G2O_FRONTEND_ROOT}/ros_packages/robot_eye_driver with the root of the package you need.
I do not know how it can work without linking the object file that include the messages, but maybe this is the black magic of ROS internal marshalling/unmarshalling system :-).
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