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generate_messages() must be called before catkin_package()
the error is pretty clear: you have a catkin_package(..) call before your call to generate_messages(..). That is not going to work.
The first call to catkin_package(..) (in the comment block under Declare ROS messages, services and actions) is actually not supposed to be there. The comment block merely explains the steps that you need to perform to enable message & service generation.
You should not uncomment that catkin_package(..) line there. Rather, you should add what is described there to the catkin_package(..) call that appears somewhat later in the file (under the catkin specific configuration heading).
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