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You don't have roscpp configured as a dependency, this is why you get all those linker errors to ros::.... This is, you didn't follow step 3 of the Tutorial correctly. You probably missed the roscpp part.

You need to add roscpp as a <build_depend> and a <run_depend> in the package.xml and in the find_package(catkin ... part in the CMakeLists.txt.

For more information, check out the catkin introduction here.

Also, ROS is installed in /opt/ros/<ROS_DISTRO>/, not in /usr.

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