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to_string() is a C++11 feature (see here). Thus, you need to configure the CMakeLists.txt accordingly.

Also, you should consider switching to catkin ;-)

For catkin and with CMake >= 2.8.12 and a suitable g++ version (from Ubuntu 14.04 onward? I'm not quite sure) best use:

target_compile_options(<TARGET> PRIVATE -std=c++11)