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error: ‘shared_ptr’ in namespace ‘std’ does not name a type
typedef std::shared_ptr<ModelInterface> ModelInterfaceSharedPtr;

This looks more like a C++11 vs Boost problem than anything else. Looks like urdf::ModelInterfaceSharedPtr is using std::shared_ptr (changed from boost::shared_ptr), but your compiler doesn't support it (or support hasn't been enabled).

Note btw that KDL is a stand-alone library: orocos.org/kdl. Only if you want to use the URDF parser(s) do you need to depend on kdl_parser (part of robot_model).