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Hello!

Can you give the CmakeFile/Package.xml you created for your service? In my case it looks like https://github.com/ros2-for-arm/example/tree/master/trusted_application_demo/aes_custom_interface

If the service name is 'aes_custom_interface' Then you need to add the following line in the package,xml that is using this specific service;

  <depend>aes_custom_interface</depend>

And in the Cmake:

find_package(aes_custom_interface REQUIRED)
ament_target_dependencies(${PROJECT_NAME}
                          ...
                          aes_custom_interface)

About the generation of those header file, I believe this is done in _rosidl_generate_interfaces_ function which is then generating header files for ROS2 and IDL files for the DDS.

Hope it helps!