I was looking for that specific error and found this link and this link that had the same problem with a solution :).
As for the first problem with sending the goal as a blank through the terminal with ros2 action send_goal /record_odom [TAB] [TAB] not working, I searched and found out that the dependencies geometry_msgs is required in the custom_interfaces Cmake file. Initially I read somewhere it was better without the DEPENDENCIES but turns out you need it for this specific one. I wonder why…?
Many Thanks though :).
Cheers!