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I am using a workaround which is to use ros2 pkg prefix foo to find the messages created by the workspace and then move my way up the folders using ../.

Why do you have to move up in this case?

The command will return the install prefix of the package foo. All files installed by that package will be in subdirectories, e.g. bin, include, lib, share.

If you need pkg-config like results you can invoke cmake --find-package ... to get information about include directories, libraries etc. (see Find-Package Tool Mode).