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This error means that (at least) one method couldn't be found by the linker when loading the global planner library. Given that the method that couldn't be found is from the OMPL namespace, I'm guessing that it's somewhere in the OMPL libraries.

From looking at the CMakeLists.txt in that package, I see that the library is compiled against OMPL, but isn't linked with the OMPL libraries; that's probably why it can't find OMPL.

You should link the global planner library that you're trying to build against OMPL:

target_link_libraries(ompl_global_planner_lib ${OMPL_LIBRARIES})