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The problem was that when compiling the workspace, cmake first tried to build all mex-files. Also the mex files for the message types. Unfortunately, the message at that point wasn't compiled for ROS, thus not usable for the cpp_introspection routine.
Compiling a custom message type from another package accessible by ROS seemed to be a problem because of the paths. I didn't go too far into that.
All in all, I succeeded building my message type by first compiling the workspace without adding the add_mex_messages() statement for the message type be compiled in ROS and afterwards recompiling the workspace with the add_mex_messages() statement added.
Now everything works fine. One should change the order of building, but I am not very familiar with that.
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