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The package you're looking for is not rosgraph_msgs, but graph_msgs. Those are two different packages.

You should be able to install the latter with:

sudo apt install ros-melodic-graph-msgs

I've tried installing it with rosdep install rosgraph_msgs, which says the installation was successful.

The package you're looking for is not rosgraph_msgs, but graph_msgs. Those are two different packages.

You should be able to install the latter with:

sudo apt install ros-melodic-graph-msgs

Please also note that rosdep install deals with package dependencies. Not packages themselves directly.

Use apt to install packages, or build them in your workspace (but don't do the latter, unless absolutely necessary). See also #q320046.