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No; you should explicitly depend on the packages that you use.

The main reason for this is that the CMake file in most metapackages does not pull in cmake files for its dependencies.

In your case, I would explicitly depend on vision_msgs in both your package.xml and your CMake file.

P.S. - this may also be a problem with your service file. If you're still having trouble, I suggest adding your service file to the question.