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In you package.xml file, add

<build_depend>message_generation</build_depend>

<build_depend>std_msgs</build_depend>

<run_depend>message_runtime</run_depend>

<run_depend>std_msgs</run_depend>

and in your subproject's build.gradle, add or uncomment

compile 'org.ros.rosjava_core:rosjava:[0.2,)'

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