rosserial_arduino generate dependent packages before make_libraries

How can I ensure my custom message packages is made before my arduino packages attempts to build? I have an arduino package that relies on a custom message package, relative_nav_msgs. In a standard ROS package I would call $ add_dependencies(node_name relative_nav_msgs_generate_messages_cpp) to ensure that the messages are being built before I try building my node. I feel like I need to call something similar before calling the rosserial_generate_ros_lib command in the CMake file. Without it, make_libraries fails to generate headers for my relative_nav_msgs packages. I found that I can hack make_libraries.py by adding a 15 second delay before it tries to generate ros_lib, this allows time for the relative_nav_msgs to be built. I would prefer a legit method though. I have included the packages CMake, package.xml, and the firmware CMake. Thank you for any help! Package CMakeLists.txt: cmake_minimum_required(VERSION 2.8.3) project(rc_read) find_package(catkin REQUIRED COMPONENTS rosserial_arduino rosserial_client relative_nav_msgs ) catkin_package() rosserial_generate_ros_lib( PACKAGE rosserial_arduino SCRIPT make_libraries.py ) rosserial_configure_client( DIRECTORY firmware TOOLCHAIN_FILE ${ROSSERIAL_ARDUINO_TOOLCHAIN} ) rosserial_add_client_target(firmware rc_read ALL) rosserial_add_client_target(firmware rc_read-upload) package.xml rc_read0.0.0The rc_read packagepaulTODOcatkinrelative_nav_msgsrosserial_arduinorosserial_clientstd_msgsrelative_nav_msgsrosserial_arduinorosserial_clientstd_msgs and finally my firmware CMake file: cmake_minimum_required(VERSION 2.8.3) include_directories(${ROS_LIB_DIR}) # Remove this if using an Arduino without native USB (eg, other than Leonardo) add_definitions(-DUSB_CON) link_directories(${CMAKE_CURRENT_SOURCE_DIR}/../libraries) generate_arduino_firmware(rc_read SRCS rc_read.cpp ${ROS_LIB_DIR}/time.cpp BOARD uno PORT /dev/ttyACM0 )