How to solve 'undefined reference to symbol 'vtable for boost::detail::thread_data_base' ?

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This typically indicates that you haven't set up you CMakeLists.txt correctly.

You are missing the Boost-related directives, try adding rosbuild_add_boost_directories() and rosbuild_link_boost() to your CMakeLists.txt

It should look something like this:

cmake_minimum_version(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake

rosbuild_init()
rosbuild_add_boost_directories()
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 

rosbuild_add_executable(simple_gripper src/simple_gripper.cpp)
rosbuild_link_boost(simple_gripper thread)

For more information on using the CMakeLists.txt file, check out the rosbuild wiki page.

There are also some good examples on the examples page.