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运行的时候需要引用roscpp，并不像教程一样不需要引用

CMake Error at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:224 (message):catkin_package() DEPENDS on the catkin package ‘roscpp’ which musttherefore be listed as a run dependency in the package.xml

错误引用

  <build_depend>message_generation</build_depend>
  <exec_depend>message_runtime</exec_depend>
  <!-- 
  exce_depend 以前对应的是 run_depend 现在非法
  -->

正确引用

<?xml version="1.0"?>
<package format="2">
  <name>tank_driver</name>
  <version>0.0.0</version>
  <description>The tank_driver package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <maintainer email="yihua@todo.todo">yihua</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>TODO</license>


  <!-- Url tags are optional, but multiple are allowed, one per tag -->
  <!-- Optional attribute type can be: website, bugtracker, or repository -->
  <!-- Example: -->
  <!-- <url type="website">http://wiki.ros.org/tank_driver</url> -->


  <!-- Author tags are optional, multiple are allowed, one per tag -->
  <!-- Authors do not have to be maintainers, but could be -->
  <!-- Example: -->
  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->


  <!-- The *depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
  <!--   <depend>roscpp</depend> -->
  <!--   Note that this is equivalent to the following: -->
  <!--   <build_depend>roscpp</build_depend> -->
  <!--   <exec_depend>roscpp</exec_depend> -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use build_export_depend for packages you need in order to build against this package: -->
  <!--   <build_export_depend>message_generation</build_export_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use exec_depend for packages you need at runtime: -->
  <!--   <exec_depend>message_runtime</exec_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <!-- Use doc_depend for packages you need only for building documentation: -->
  <!--   <doc_depend>doxygen</doc_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>message_generation</build_depend>
  <build_depend>std_msgs</build_depend>
	<build_depend>geometry_msgs</build_depend>

  
  <exec_depend>message_runtime</exec_depend>
	<exec_depend>roscpp</exec_depend>
	<exec_depend>std_msgs</exec_depend>
	<exec_depend>geometry_msgs</exec_depend>
  <!-- 
  exce_depend 以前对应的是 run_depend 现在非法
  -->


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

CMAKE

cmake_minimum_required(VERSION 2.8.3)
project(tank_driver)

find_package(catkin REQUIRED COMPONENTS
    std_msgs
    message_generation
    geometry_msgs
)

add_message_files(
  FILES
  Person.msg
)

generate_messages(
  DEPENDENCIES
  std_msgs
)

catkin_package(
  CATKIN_DEPENDS roscpp std_msgs message_runtime geometry_msgs
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

add_executable(person_talker src/message/identify/person_talker.cpp)
add_executable(person_listener src/message/identify/person_listener.cpp)



add_dependencies(person_talker ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(person_listener ${PROJECT_NAME}_generate_messages_cpp)


target_link_libraries(person_talker
  ${catkin_LIBRARIES}
)
target_link_libraries(person_listener
  ${catkin_LIBRARIES}
)