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Looking at kdl_parser's CMakeLists.txt, it doesn't export its dependency on orocos_kdl, which is where your missing symbol is:
https://github.com/ros/robot_model/blob/hydro-devel/kdl_parser/CMakeLists.txt#L20
On one hand, kdl_parser might should export this as a dependency, but on the other hand, you are using orocos_kdl symbols directly. Therefore you should probably also directly depend on it in your package.xml, find_package it in your CMakeLists.txt, and include the appropriate header in your c++ file, and not rely on the #include <kdl_parser/kdl_parser.hpp> line to bring in the orocos_kdl symbols you need.
If you think this is a bug in kdl_parser, I would open a ticket against it in the robot_model repository:
https://github.com/ros/robot_model/issues
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