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Ok. It seems there is a way to trick ROS CMakeFiles, since it seems that rosbuild isn't linking the libraries properly.

I added:

find_package(Boost 1.46.1 COMPONENTS thread signals filesystem system)

if(Boost_FOUND)
    include_directories(${Boost_INCLUDE_DIRS})
    target_link_libraries(ros ${Boost_LIBRARIES})
endif()

in the file: ~/ros/ros_comm/clients/cpp/roscpp/src/libros/CMakeLists.txt

That allowed me to go past the compilation. There is a similar problem with rosbag CMakeLists.txt as well, but the same applies. This is probably a bug and hopefully it will be fixed.

Unfortunately it doesn't seem this is the end since I have another issue, this time with roscore. But this will be the subject for another question.