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I have [..] then run the following command to add dependencies for the executable targets to message generation targets:

add_dependencies(talker beginner_tutorials_generate_messages_cpp)

Similar to your other question (#q351468): what you show is not a command you run in the terminal, but another statement to add to the CMakeLists.txt of the package.

From the CMakeLists.txt you show it would appear it's already there, so things should be OK like this.