http://kentonv.github.io/capnproto/rpc.html http://kentonv.github.io/capnproto/language.html#interfaces
The reason Google never released an RPC system together with protobufs is because Google's RPC implementation simply had too many dependencies on other Google infrastructure, and wasn't appropriate for use outside of Google datacenters. There were a few attempts to untangle the mess and produce something that could be released, but it never happened.
The public release had support for generating generic stubs, as you mentioned, but it was later decided that these stubs were actually a poor basis for implementing an RPC system. In their attempt to be generic, their interface ended up being rather awkward. We later decided that it made more sense to support code generator plugins, so that someone implementing an RPC system could provide a plugin that generates code ideal for that particular system. The generic interfaces were then deprecated.
Cap'n Proto also supports code generation plugins. But, as I said, we will soon also have an "official" RPC layer as well -- and it will hopefully be somewhat plugable itself, so that you can use a different underlying transport with the same generated interface code. Anyway, this will all become clearer with the next release, so stay tuned!