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The credit goes to @Geoff. I will add my attempt to solve this problem so people should save their time if they encounter this problem. In my case, I've defined a custom message ExampleServiceMsg.srv in srv folder in package example_service. This package is a server that receives request. In this package, three header files are generated ExampleServiceMsg.h, ExampleServiceMsgResponse.h and ExampleServiceMsgRequest.h. These files reside in devel/include/example_service.

Now I've created a new package service_client. This package needs to use ExampleServiceMsg.h, a customized message generated in example_service package. To allow the new package to detect the header file, we need to the following: in package.xml

<build_depend>example_service</build_depend>
<exec_depend>example_service</exec_depend>

in CMakelists.txt for the new package

find_package(catkin REQUIRED COMPONENTS example_service)