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I had the same issue and solved it by referencing the dependencies for the messages directly within the rosidl_generate_interfaces statement.

CMakeList:

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
    msg/Variant.msg
    srv/GetXYZ.srv
    ...
    DEPENDENCIES shape_msgs geometry_msgs
)

I had the same issue and solved it by referencing the dependencies for the messages and services of the xyz_interfaces package directly within the rosidl_generate_interfaces statement.

CMakeList:CMakeList.txt of xyz_interfaces:

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
    msg/Variant.msg
    srv/GetXYZ.srv
    ...
    DEPENDENCIES shape_msgs geometry_msgs
)