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I had this error because of module name conflict.

e.g.:

catkin_ws/
  | src/
    | package/
      | srv/
        | service.srv
      | scripts
        | package.py
        | code_using_service.py

I was importing the service into the code_using_service.py file and got the error message:

from package.srv import *
ImportError: No module named srv

It was looking for the srv module inside my package.py module instead of inside my package/ module. So I just renamed my script file to package_node.py to avoid the conflict.