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Most likely the issue is that you missed some change recommended in the tutorial. This could be a problem with the package.xml, the CMakeLists.txt, or the code itself. In general, when you have compilation errors like this providing the relevant snippets of all of these things will help people better answer your question (please remove the boilerplate comments from package.xml and CMakeLists.txt to add readability).
In this case, without seeing the code, my guess is that you've missed a #include "ros/ros.h" in listener.cpp. If that doesn't seem to be the issue, please edit your question and provide the code you're using.
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