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Here's what I do:

from rosidl_runtime_py import get_interface_path
from rosidl_adapter.parser import parse_message_file
m = parse_message_file('std_msgs', get_interface_path('std_msgs/msg/Bool'))

it's actually better than what you do with RosPack as parse_message_file parses the lines for you and returns a nice object with all the info in it.

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