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It looks like your planner library isn't linked against OMPL.
Try linking it against ompl by adding the following to your CMakeLists.txt:
target_link_libraries(ompl_planner_rrt ${ompl_LIBRARIES})
(NOTE: this assumes that the find_package command for OMPL is exporting its libraries in the ompl_LIBRARIES variable. if it isn't, or the variable name is different, you'll have to make the appropriate adjustments above)
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