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Looking at the CMakeLists.txt file of the package I don't think it is functional at the moment. While it enumerates several interface files (https://github.com/ros-controls/control_msgs/blob/d6e9ea87b3fdbb3449e8c63d70c51fbb939680fe/control_msgs/CMakeLists.txt#L24-L43) it doesn't call rosidl_generate_interfaces anywhere. You might want to fill a ticket upstream about the problem.

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