So I am trying to control the Pr2 arms with this tutorial.

After I run the very last command, I get the following error:

[ rosmake ] rosmake starting...                                                 
[ rosmake ] Packages requested are: ['teleop_arms']                             
[ rosmake ] Logging to directory /home/bob/.ros/rosmake/rosmake_output-20160420-211528
[ rosmake ] Expanded args ['teleop_arms'] to:
['teleop_arms']                   
[rosmake-0] Starting >>> teleop_arms [ make ]                                   
[rosmake-0] Finished <<< teleop_arms [SKIP] No rule to make target None         
[ rosmake ] Results:                                                            
[ rosmake ] Built 1 packages with 0 failures.                                   
[ rosmake ] Summary output to directory                                         
[ rosmake ] /home/bob/.ros/rosmake/rosmake_output-20160420-211528              
bob@bob-Aspire-S3-451:~$ rosrun teleop_arms teleop_pr2_arms_keyboard.cpp
/home/bob/teleop_arms/teleop_pr2_arms_keyboard.cpp: line 16: class: command not found
/home/bob/teleop_arms/teleop_pr2_arms_keyboard.cpp: line 25: syntax error near unexpected token `('
/home/bob/teleop_arms/teleop_pr2_arms_keyboard.cpp: line 25: `  void init()'

Help would be appreciated.