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As the other answers already state, you need to add the correct dependencies in the CMakeLists.txt. However, I found I also have to correctly specify the dependencies in the package.xml, otherwise the packages would not build in the correct order (i.e., first foo_msgs then foo).

I am using the catkin tools for building. Not sure if it is strictly necessary for caktin_make.

A minimal package.xml could look like this:

<?xml version="1.0"?>
<package format="2">
  <name>foo</name>
  <version>1.0.0</version>
  <description>Package foo depends on foo_msgs</description>
  <maintainer email="foo@bar.com">Foo Bar<maintainer>
  <license>Foo Bar</license>
  <buildtool_depend>catkin</buildtool_depend>
  <depend>roscpp</depend>
  <depend>foo_msgs</depend>
</package>