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The undefined reference error suggests there is a problem with linking. You are including the correct header but you are not linking it.

If you change the following in your CMakeLists.txt

find_package(catkin REQUIRED COMPONENTS
  pluginlib
  roscpp
  moveit_core
)

and change the header to include

#include <moveit/kinematics_base/kinematics_base.h>

you should be all set. Changing the include ensures that your system will be able to find the right header, even if the location might move (or should you use another ros distro).