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It looks like cmake is having a hard time finding the poco library. Do you have it installed? Try:
sudo apt-get install libpoco-dev
More generally, this is probably happening because you don't have all of the dependencies for ROS installed. Have you set up rosdep and used it to install your dependencies yet? (Step 1.2 and 2.1.2 on http://wiki.ros.org/hydro/Installation/Source )
sudo rosdep init
rosdep update
rosdep install --from-paths src -i --rosdistro hydro -y -r