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Hey! hello I had the exact same problem, but I was trying the tutorial for parsing a URDF to use the KDL library. Here is my solution: I also edit the CMakeLists.txt:

cmake_minimum_required(VERSION 2.8.3)
project(kdl_beginner)

find_package(catkin REQUIRED)

find_package(orocos_kdl)
find_package(kdl_parser)

add_executable(mykdl src/mykdl.cpp)
target_link_libraries(mykdl ${kdl_parser_LIBRARIES}   ${orocos_kdl_LIBRARIES} )

:D

BTW I am on ubuntu 12.04 running groovy

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