Error: Config file has not been declared.

edit

First, you should make sure the names defined in the cfg/performanceTest.cfg matches the names you used in you code. Then you can try these. In you CMakeLists.txt file, change line 30 to add_dependencies(talker ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS}). Then shift this line to before the line of target_link() command. Do the same thing for your listener. After changing the CMakeLists.txt, it should look like this,

add_executable(talker src/talker_node.cpp)
add_dependencies(talker ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS})
target_link_libraries(talker ${catkin_LIBRARIES})

add_executable(listener src/talker_node.cpp)
add_dependencies(listener ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS})
target_link_libraries(listener ${catkin_LIBRARIES})

Try to compile again, it may help.