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You can use rosidl_target_interfaces(<target> ${PROJECT_NAME} "rosidl_typesupport_cpp") instead of the add_dependencies(<target> ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS}). More details in https://docs.ros.org/en/foxy/Tutorials/Single-Package-Define-And-Use-Interface.html?highlight=rosidl_target_interfaces

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