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AFAIK ROS Hydro is not yet fully supported on 13.10. Have you installed using the repository or from source?

You can try creating a symbolic link for the needed file

sudo ln -s /usr/lib/x86_64-linux-gnu/libboost_signals.so /usr/lib/libboost_signals-mt.so

or if that does not work you could try installing the libboost-singals package used in 13.04

sudo apt-get install libboost-signals1.49-dev