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From the reference to std::__cxx11::basic_string in the link error, it looks like your compiler is using the C++11 standard libraries, but most of ROS is usually compiled with the previous version of C++ ( C++98 ).

If you have an environment variable or some other setting that is putting the compiler into C++11 mode, you should disable that.

Usually, the default compiler flags are fine, but you haven't said which operating system you're using or how you installed ROS, so I can't be certain.