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i had a problem like this but when made srv and msg folder with mkdir $

 cd ~/catkin_ws/src/beginner_tutorials
$ mkdir msg

and

$ roscd beginner_tutorials
$ mkdir srv

look at this link and then run catkin_make and did every thing for talker.cpp and listener.cpp and did source ./devel/setup.bash in my catkin workspace and run catkin_make again and we could see :

Linking CXX executable /home/fatima/catkin_ws2/devel/lib/beginner_tutorials/talker
Linking CXX executable /home/fatima/catkin_ws2/devel/lib/beginner_tutorials/listener

and then : two executable file were made in catkin_ws/devel/lib/beginner_tutorials/talker and listener and now it could be run :

rosrun beginner_tutorials talker