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Afaik, there are three parts to this (I'll use gencpp as an example):

1. a CMake 'extras' file that provides two macros that know how to take in a list of msg or srv defs and pass them on to your generator (gencpp/cmake/gencpp-extras.cmake.em)
2. exporting from your manifest the language that you'll be generating code for (gencpp/package.xml)
3. a few bits in your CMakeLists.txt that add a required file (gencpp/CMakeLists.txt)

And make sure to depend on the correct package(s) as well (genmsg among others).

Afaik, there are three parts to this (I'll use gencpp as an example):

1. a CMake 'extras' file that provides two macros that know how to take in a list of msg or srv defs and pass them on to your generator (gencpp/cmake/gencpp-extras.cmake.em)
2. exporting from your manifest the language that you'll be generating code for (gencpp/package.xml)
3. a few bits in your CMakeLists.txt that add a required file (gencpp/CMakeLists.txt)

And make sure to depend on the correct package(s) as well (genmsg among others).