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@joq's answer is correct, though I'll note that you can try Fuerte Alpha now for your development. Assuming that you are on Ubuntu, you can apt-get install ros-fuerte-ros-comm and ros-fuerte-common-msgs. Both will place files in /opt/ros/fuerte that include necessary CMake find_package() macros and pkg-config settings. You merely have to point your appropriate path variables (e.g. CMake's) to find those files.