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Do you have two packages that depend on one another anywhere in your ROS_PACKAGE_PATH? If you have any two packages that depend on one another, you could cause this circular dependency. In case you're curious, the output of rospack depends geometry_msgs on your system should look like this:

rosbuild
roslang
cpp_common
roscpp_traits
rostime
roscpp_serialization
rospack
roslib
xmlrpcpp
rosconsole
std_msgs
rosgraph_msgs
roscpp
rospy
rosclean
rosgraph
rosparam
rosmaster
rosout
roslaunch
rosunit
rostest
topic_tools
rosbag
rosbagmigration

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