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In the post you reference, they explicitly find MySQL.
find_package(MySqlClient REQUIRED)
include_directories(${MYSQL_INCLUDE_DIRS})
However, in your example, you lumped it in as something catkin should look for.
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
MySqlClient REQUIRED
)
I think it should work if you just separate the find_package(MySqlClient REQUIRED)
from the catkin components, since it is not a catkin component.