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Just a suggestion but did your CMakeLists.txt have a requirement for message_generation and a dependency for message_runtime? As in:

find_package(catkin REQUIRED COMPONENTS message_generation std_msgs geometry_msgs)

and

catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS message_runtime std_msgs geometry_msgs
LIBRARIES pid 
)

and your package will need to depend on message_generation in package.xml

  <build_depend>message_generation</build_depend>
  <run_depend>message_runtime</run_depend>

See the Tutorial on creating messages and services