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If I'm not mistaken, the packages you are referring to were rosbuild packages.

You converted them to Catkin, but if I look at art_msgs/src/art_msgs/CMakeLists.txt, I don't see a catkin_package(..) statement anywhere.

That will cause the error you included in your OP.

If you haven't already, please check the catkin/migrating_from_rosbuild page on the wiki. And check the catkin documentation on how to deal with things like message and service dependencies.

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