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The missing symbol here is _ZN3ros13serialization18throwStreamOverrunEv, which comes from libroscpp_serialization.so . You should link to it by adding -lroscpp_serialization to you compile flags.

In general, may of the ROS packages that you'll use from C++ provide a large number of include directories and libraries, and using cmake with catkin handles the inclusion and order of these dependencies for you. It's good to understand the basics, but I strongly encourage you to use cmake on more complex projects.