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The package.xml isn't really used much during the build, what you are looking for is to add dependencies in your CMakeLists.txt. For instance, if you have a target called foo, and a package named my_msgs, you would "add_dependencies":

add_executable(foo src/foo.cpp)
# other link, etc commands
add_dependencies(foo my_msgs_generate_messages_cpp)

This will then cause CMake to build your messages before your node.