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I found why I got this error. My service wasn't defined properly. The response parameter is required even if not used.

bool TwistToJogFrame::setTargetLink(jog_msgs::SetTargetRequest &target_link, jog_msgs::SetTargetResponse &res)
{
  link_name_ = target_link.name;
  return true;
}

I then added the service server to the class

TwistToJogFrame::TwistToJogFrame()
{
  ros::NodeHandle nh, pnh("~");
  jog_frame_pub_ = nh.advertise<jog_msgs::JogFrame>("jog_frame", 1);
  get_target_frame_list_srv_ = nh.advertiseService("get_target_frame_list", &TwistToJogFrame::getTargetFrameList, this);
  set_controller_status_srv_ = nh.advertiseService("set_controller_status", &TwistToJogFrame::setControllerStatus, this);
  set_target_frame_srv_ = nh.advertiseService("set_target_frame", &TwistToJogFrame::setTargetFrame, this);
  set_target_link_srv_ = nh.advertiseService("set_target_link", &TwistToJogFrame::setTargetLink, this);
  pnh.getParam("/jog_frame_node/group_names", group_names_);
  pnh.getParam("/jog_frame_node/link_names", link_names_);
  pnh.getParam("group_name", group_name_);
  pnh.getParam("link_name", link_name_);
  pnh.getParam("frame_id", frame_id_);
  pnh.getParam("rotate_axes", rotate_axes_);
  std::string str_rotation_matrix_;
  pnh.getParam("rotation_matrix", str_rotation_matrix_); 
  rotation_matrix_ = arma::mat(str_rotation_matrix_);
  pnh.getParam("dominant_axis_mode", dominant_axis_mode_);
  pnh.getParam("scale_linear", scale_linear_);
  pnh.getParam("scale_angular", scale_angular_);
  pnh.getParam("sub_topic", sub_topic_);
  pnh.getParam("controller_enabled", controller_enabled_);
  twist_sub_ = nh.subscribe(sub_topic_, 10, &TwistToJogFrame::twist_cb, this);
  ros::topic::waitForMessage<geometry_msgs::Twist>(sub_topic_);
}