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OK, so I found out what was the problem... Even if your .srv is in your package you still need to add your package to his own dependencies... Kind of weird.

In my CMakeList.txt of the package kinocto I had:

add_executable(Kinocto src/Kinocto.cpp)

After the line above, I simply added this :

add_dependencies(Kinocto kinocto_gencpp)

No more error and the .srv files are generated.

I think it should be documented in the tutorials...