How to compile the listener.cpp and talker.cpp without cmake

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Upon reading the following tutorial Simplest ROS tutorial, I wanted to compile the listener.cpp and talker.cpp given here.

I am using the following command, as directed by the tutorial:

g++ listener.cpp -o listener_node -I/opt/ros/indigo/include -L/opt/ros/indigo/lib -Wl,-rpath,/opt/ros/indigo/lib -lroscpp -lrosconsole -lrostime

I get the following error:

/usr/bin/ld: /tmp/ccbskyfi.o: undefined reference to symbol '_ZN3ros13serialization18throwStreamOverrunEv'
/opt/ros/indigo/lib/libroscpp_serialization.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status

How can I resolve the issue and run the code?

** I did not include the message header files since they should already be included by:

-I/opt/ros/indigo/include -L/opt/ros/indigo/lib