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find_package(catkin REQUIRED COMPONENTS
  message_generation
  message_runtime
  roscpp
  std_msgs
  Eigen3
)

Where is geometric_shapes in this list? That's most likely the problem: you're not linking against geometric_shapes, but are using a function from that library.

Also (but off-topic):

add_compile_options(-ggdb -std=c++11 -I. -I/usr/include/eigen3 ${Eigen_INCLUDE_DIRS})

The -I., -std=c++11 and -I/usr/include/eigen3 ${Eigen_INCLUDE_DIRS} seem unnecessary, and should be using CMake functionality instead.

Especially -I.: did you really need this?

find_package(catkin REQUIRED COMPONENTS
  message_generation
  message_runtime
  roscpp
  std_msgs
  Eigen3
)

Where is You seem to be missing geometric_shapes in this list? list. That's most likely the problem: you're not linking against geometric_shapes, but are using a function from that library.

And unless this is an excerpt, you don't appear to need message_generation nor message_runtime here.

Also (but off-topic):

add_compile_options(-ggdb -std=c++11 -I. -I/usr/include/eigen3 ${Eigen_INCLUDE_DIRS})

The -I., -std=c++11 and -I/usr/include/eigen3 ${Eigen_INCLUDE_DIRS} seem unnecessary, and should be using CMake functionality instead.

Especially -I.: did you really need this?

find_package(catkin REQUIRED COMPONENTS
  message_generation
  message_runtime
  roscpp
  std_msgs
  Eigen3
)

You seem appear to be missing geometric_shapes in this list. That's most likely the problem: you're not linking against geometric_shapes, but are using a function from that library.

And unless this is an excerpt, you don't appear to need message_generation nor message_runtime here.

Also (but off-topic):

add_compile_options(-ggdb -std=c++11 -I. -I/usr/include/eigen3 ${Eigen_INCLUDE_DIRS})

The -I., -std=c++11 and -I/usr/include/eigen3 ${Eigen_INCLUDE_DIRS} seem unnecessary, and should be using CMake functionality instead.

Especially -I.: did you really need this?