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I know this is very late, but I just encountered the exact same problem. My problem originated from not having the .msg file added in my CMake file when I built. Here is how I resolved it:
First, ensure the file has been added to the CMakeLists.txt (yours already has)
Second, clean your build by running "catkin_make clean" in the root of your workspace.
Third, remake your project with "catkin_make"
Lastly, resource the devel/setup.bash in your workspace.
I know this is not a great answer, but I encountered the exact same problem where rosmsg could find my message, but rostopic could not, and these are the exact steps I took that resolved it.
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