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What I did:

cloning the missing package into my catkin_workspace/src folder like

git clone https://github.com/ros/cmake_modules.git

Then run catkin_make again. This time there weren't errors anymore.

After adding the missing package the topics and services listed in the tutorials are all there and my old gazebo ros plugins seem to work again.

As said before, I am not sure if I am the only one who got that error or if it is a common error and that information maybe belongs to the wiki.