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You are right that things listed in CMakeLists.txt with an install(...) macro does not automatically get moved into the devel space.
catkin_find can help you, it takes more arguments, like:
$ catkin_find roscpp package.xml
$ catkin_find roscpp srv/Empty.srv
It will search folders in a specific order to find what you look for. catkin_find is based on the CMAKE_PREFIX_PATH and the contents of a file called .catkin in your devel space.
Not sure whether there is a cleaner way to refer to other packages (cmake, python).
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