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I found out a quick way to achieve this building on @djiglesias

If you have a situation like

• my_pkg
• my_pkg_msgs

you can make it work doing:

1) Remove my_pkg from the package to build

mv catkin_ws/src/my_pkg/package.xml catkin_ws/src/my_pkg/package.xml.tmp

Generated the messages (Note, the my_pkg_msgs package must be in the catkin workspace)

catkin_make

Bring back my_pkg

mv catkin_ws/src/my_pkg/package.xml.tmp catkin_ws/src/my_pkg/package.xml

Build everything

catkin_make

If the messages do not change, you can build as normal (catkin_make) in the next iteration. If you are changing the messages definition you need to do the same as before

It seems this problem is known (https://github.com/ros-drivers/rosserial/issues/239), however no solution has been released yet.

The add_dependencies and generate_msgs did not work for me.