Build error for planning_interface::PlannerManager

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I'm trying to load a motion planner based on the the name of planning plugin loaded from the ROS param server. I'm getting the following error while building with catkin_make (using Indigo):

Linking CXX executable /homes/radu/workspace/development/fetch/devel/lib/mira/test
/homes/radu/workspace/development/fetch/devel/lib/libRobotArm.so: undefined reference to `typeinfo for planning_interface::PlannerManager'

The code I'm testing is this (found in the tutorials):

robot_model_loader::RobotModelLoader robot_model_loader("robot_description");

robot_model::RobotModelPtr robot_model = robot_model_loader.getModel();

planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model));

boost::scoped_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager>> planner_plugin_loader;

try
{
  planner_plugin_loader.reset(new pluginlib::ClassLoader<planning_interface::PlannerManager>("moveit_core", "planning_interface::PlannerManager"));
}
catch (pluginlib::PluginlibException& ex)
{
  ROS_FATAL_STREAM("Exception while creating planning plugin loader " << ex.what());
}