编译节点需要添加到CMakeList.lst的命令行

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)
add_executable(chap2_example1_a src/example1_a.cpp)
add_executable(chap2_example1_b src/example1_b.cpp)

add_dependencies(chap2_example1_a chapter2_tutorials_generate_messages_cpp)
add_dependencies(chap2_example1_b chapter2_tutorials_generate_messages_cpp)

target_link_libraries(chap2_example1_a ${catkin_LIBRARIES})
target_link_libraries(chap2_example1_b ${catkin_LIBRARIES})