Writing Publisher & Subscriber in C++
ROS Tutorials Official Website: http://wiki.ros.org/ROS/Tutorials

Add these few lines to the bottom of your CMakeLists.txt:

add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_dependencies(talker beginner_tutorials_generate_messages_cpp)

add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
add_dependencies(listener beginner_tutorials_generate_messages_cpp)

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