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The error message states:

add_message_files() directory not found:
  /home/liu/testpkg/src/learning_topic/msg

Does a directory called msg exist in /home/liu/testpkg/src/learning_topic?

What is the output of ls -al /home/liu/testpkg/src/learning_topic/msg?

Call Stack (most recent call first):
  learning_topic/CMakeLists.txt:80 (add_message_files)

As a check: can you show us the lines in your CMakeLists.txt around line 80?