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Also make sure your

nh.advertiseService<my_package::my_service::Request, my_package::my_service::Response>("service_name", 
        [&](my_package::my_service::Request &req, my_package::my_service::Response &res) -> bool
        {...});

and

nh.serviceClient<my_package::my_service>("service_name");

is consistent.

The error can happen when the service type advertised and the service type of the client to is different.