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Probably not a nice solution but it works for me: Change the last line ipc_bridge_ros.mk to

$(CXX) -I./include $(ROS_CXXFLAGS) $(IPC_BRIDGE_CXXFLAGS) -lstdc++ $(IPC_LFLAGS) -lipc $(ROS_LFLAGS) $(ROS_LIBS) $^ -o bin/$@ -lroscpp -lrosconsole -lroscpp_serialization -lipc

Probably not a nice solution but it works for me: Change the last line in ipc_bridge_ros.mk to

$(CXX) -I./include $(ROS_CXXFLAGS) $(IPC_BRIDGE_CXXFLAGS) -lstdc++ $(IPC_LFLAGS) -lipc $(ROS_LFLAGS) $(ROS_LIBS) $^ -o bin/$@ -lroscpp -lrosconsole -lroscpp_serialization -lipc