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You need to include package name with your message type. The exact syntax is:

PackageName/VariableType variable_name

As described here PackageName/ is left out when referring to message from the same package.

With this I was able to create the service in my package:

mbs@mybotshop-rosPC:~$ rossrv show mbs_msgs/APMDetection 
---
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
string class_name
int32 class_index
geometry_msgs/Polygon bounding_box
  geometry_msgs/Point32[] points
    float32 x
    float32 y
    float32 z

You need to include package name with your message type. The exact syntax is:

PackageName/VariableType variable_name

As described here PackageName/ is left out when referring to message from the same package.

With this I was able to create the service in my package:

mbs@mybotshop-rosPC:~$ mbs@mbs-rosPC:~$ rossrv show mbs_msgs/APMDetection 
---
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
string class_name
int32 class_index
geometry_msgs/Polygon bounding_box
  geometry_msgs/Point32[] points
    float32 x
    float32 y
    float32 z