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For the first part of the question, you are missing the compressed-image-transport package. Since I'm assuming you are running Raspbian and thus building ROS from source, you will need to follow these instructions for adding released packages and building the compressed-image-transport from source (as well as for all other ROS package dependencies for raspicam_node).

For the second error, it is likely the same issue, that you don't have the rosgraph_msgs package installed. The instructions on the linked page should help with that as well.