diff --git a/rosrust_codegen/src/rosmsg_include.rs b/rosrust_codegen/src/rosmsg_include.rs
index 871f05a..7c12afb 100644
--- a/rosrust_codegen/src/rosmsg_include.rs
+++ b/rosrust_codegen/src/rosmsg_include.rs
@@ -2,6 +2,8 @@ use crate::genmsg;
 use proc_macro::TokenStream;
 use quote::quote;
 use std::env;
+use std::ffi::OsStr;
+use std::fs::read_dir;
 use std::path::Path;
 
 pub fn depend_on_messages(messages: &[&str], internal: bool) -> TokenStream {
@@ -20,10 +22,14 @@ pub fn depend_on_messages(messages: &[&str], internal: bool) -> TokenStream {
         .split(':')
         .map(String::from)
         .collect::<Vec<String>>();
-    let paths = cmake_paths
+    let paths_owned = cmake_paths
         .iter()
         .chain(cmake_alt_paths.iter())
         .chain(extra_paths.iter())
+        .flat_map(|v| find_all_package_groups(&Path::new(v)))
+        .collect::<Vec<String>>();
+    let paths = paths_owned
+        .iter()
         .map(String::as_str)
         .collect::<Vec<&str>>();
     let output = genmsg::depend_on_messages(paths.as_slice(), messages)
@@ -36,6 +42,49 @@ pub fn depend_on_messages(messages: &[&str], internal: bool) -> TokenStream {
     (quote! {#output}).into()
 }
 
+fn find_all_package_groups(root: &Path) -> Vec<String> {
+    categorize_tree_folders(root)
+        .into_iter()
+        .filter(|v| v.has_msg_or_srv_grandchild)
+        .map(|v| v.name)
+        .collect()
+}
+
+fn categorize_tree_folders(root: &Path) -> Vec<FolderInfo> {
+    if !root.is_dir() {
+        return vec![];
+    }
+    let mut folders = vec![];
+    let is_msg_or_srv =
+        root.file_name() == Some(OsStr::new("msg")) || root.file_name() == Some(OsStr::new("srv"));
+    let mut has_msg_or_srv_child = false;
+    let mut has_msg_or_srv_grandchild = false;
+    if let Ok(children) = read_dir(root) {
+        for child in children.filter_map(Result::ok) {
+            for folder in categorize_tree_folders(&child.path()) {
+                has_msg_or_srv_child = has_msg_or_srv_child || folder.is_msg_or_srv;
+                has_msg_or_srv_grandchild =
+                    has_msg_or_srv_grandchild || folder.has_msg_or_srv_child;
+                folders.push(folder);
+            }
+        }
+    }
+    folders.push(FolderInfo {
+        name: root.to_str().unwrap_or("").into(),
+        is_msg_or_srv,
+        has_msg_or_srv_child,
+        has_msg_or_srv_grandchild,
+    });
+    folders
+}
+
+struct FolderInfo {
+    name: String,
+    is_msg_or_srv: bool,
+    has_msg_or_srv_child: bool,
+    has_msg_or_srv_grandchild: bool,
+}
+
 fn append_share_folder(path: &str) -> Option<String> {
     Path::new(path).join("share").to_str().map(String::from)
 }