solution:
在CMakeLists.txt中添加:
add_library(turtle_tf_broadcaster src/turtle_tf_broadcaster.cpp)
add_dependencies(turtle_tf_broadcaster ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(turtle_tf_broadcaster ${catkin_LIBRARIES})
add_library(turtle_tf_listener src/turtle_tf_listener.cpp)
add_dependencies(turtle_tf_listener ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(turtle_tf_listener ${catkin_LIBRARIES})