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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.