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As you can see from the output you posted, several libraries external to the urg_node package fail to be linked to the getID executable declared in the CMakeLists.txt of the urg_node package. If you haven't done any modification to the urg_node package itself, this suggests to me that either :

  1. you did not properly install the packages containing the external libraries mentioned, which you can check using rosdep update, rosdep install urg_node (tutorial here), or
  2. you did not properly source your environment : source /opt/ros/indigo/setup.bash for packages installed via binaries, and source ~/catkin_ws/devel/setup.bash for packages that you compiled yourself in your catkin workspace.

Note that the failure to compile is caused by the CMake Error messages, and not by the CMake Warning on the Eigen library, so you might want to rename your thread or split it into 2 questions, as it is a bit misleading.