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Hey Matt, I am the project maintainer of Poark. Please feel free to contact me if you have any troubles getting Poark compiled in the future.
For this particular case, can you be more specific about what steps have you taken to get the library compiled? Did you use the proper version of the rosserial code from the rosserial repository in our project (which is a compatible fork of the Parsec's rosserial port...which itself is an incompatible port of the original rosserial code)? I guess not using this version of resserial is the core of your problem but if this hint doesn't help just file an issue on our bug tracker and we'll try to help further.
Best, Julian
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