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You may need to declare a build dependency on sensor_msgs, so that CMake will locate the headers from the sensor_msgs package when building yours.

Check the package.xml of the package you're trying to build and add the following if it's not already there:

<depend>sensor_msgs</depend>

You can copy the example_interfaces package as an example.

If that is not your issue, please update your original question to show the package.xml you are using and we can take a look at that!