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Looks like you can pass the message target dependencies to the add_rostest(...) call using the DEPENDENCIES target:

http://docs.ros.org/api/catkin/html/howto/format2/rostest_configuration.html

So your code would look like:

if(CATKIN_ENABLE_TESTING)
    find_package(rostest REQUIRED)
    find_package(my_msgs REQUIRED)

    add_rostest(tests/my_test.test DEPENDENCIES ${my_msgs_EXPORTED_TARGETS})
endif()

I think that should work, but I haven't tried it myself.