Error when running a C++ service node using a custom srv in ROS2

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I'm trying to follow these two tutorials to create a node that provides a ROS2 service using a custom .srv:

• https://index.ros.org/doc/ros2/Tutori...
• https://index.ros.org/doc/ros2/Tutori...

Following the steps in the tutorials, I've created the following packages:

• transform_service_srv - contains the custom srv type.
• transform_service - contains the server.

Both packages build using colcon with no warnings.

I can examine the srv as follows:

$ ros2 srv show transform_service_srv/srv/TransformPose 
geometry_msgs/PoseStamped source_pose
string target_frame
---
geometry_msgs/PoseStamped target_pose
bool success

Attempting to run the service node results in the following error:

$ ros2 run transform_service transform_service 
/home/spragunr/ros2_ws/install/transform_service/lib/transform_service/transform_service: symbol lookup error: /home/spragunr/ros2_ws/install/transform_service_srv/lib/libtransform_service_srv__rosidl_typesupport_fastrtps_cpp.so: undefined symbol: _ZN13geometry_msgs3msg24typesupport_fastrtps_cpp31max_serialized_size_PoseStampedERbm

I don't have any experience building ROS2 C++ nodes, so I don't know where to begin debugging this. I've attempted this in both dashing and foxy and the result is exactly the same for both.