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This is basically a problem with your CMakeLists.txt.

find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  roscpp
  tf
)

These lines are correct.

catkin_package(
  #INCLUDE_DIRS include
  #LIBRARIES robot_setup_tf
  #CATKIN_DEPENDS geometry_msgs roscpp tf
  #DEPENDS system_lib
)

# include
  ${catkin_INCLUDE_DIRS}
)

These lines are clearly not correct and I don't understand how you could not have gotten complaints from CMake about this. As is, this will not setup the include path correctly, so ros/ros.h is not on the include path, leading to the compiler error you show.

The correct statement would be:

include_directories(
  # include
  ${catkin_INCLUDE_DIRS}
)

Some other observations:

link_directories(${catkin_LIBRARY_DIRS})

This is not needed and should be removed.

${catkin_EXPORTED_TARGETS})

${catkin_EXPORTED_TARGETS})

These statements do nothing and should be removed or fixed.

The tutorial you mention does not instruct you to change the CMakeLists.txt other than adding a few lines to get the binaries to build. Did you edit the CMakeLists.txt yourself?

Finally: if you haven't, I would recommend you follow the TF2 version of this tutorial (ie: this one), instead of using TF. TF has been deprecated for a few years now and TF2 should be used instead.