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In your case, I think you shouldn't build a library since you have a main function. Get rid of the rosbuild_add_library line.

From the error message, I see that you are also depending on turtlebot_node, make sure that you depend on it in the manifest file. In addition, it seems like the compiler cannot find some roscpp stuff. Did you include ros/ros.h?

In your case, I think you shouldn't build a library since you have a main function. Get rid of the rosbuild_add_library line.

From the error message, I see that you are also depending on turtlebot_node, make sure that you depend on it in the manifest file. In addition, it seems like the compiler cannot find some roscpp stuff. Did you include ros/ros.h?ros/ros.h?

Vector3 is provided by bullet. Add either tf or bullet to your dependencies in the manifest file and make sure that you have the corresponding include line in your cpp file.