failed to load library when running a realtime joint controller

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Hello,everyone!

I'm learning this tutorial Running a realtime joint controller to create a basic real-time joint controller. Everything is okay until I reach this step:

3.3.1 Load

If everything looks good, let's try to load our controller:

$ rosrun pr2_controller_manager pr2_controller_manager load my_controller_name

After using above command, I get an error :

[ERROR] [1474085129.430380858, 74.606000000]: Could not load class my_controller_pkg/MyControllerPlugin: Failed to load library /home/hadoop436/catkin_ws/devel/lib//libmy_controller_lib.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /home/hadoop436/catkin_ws/devel/lib//libmy_controller_lib.so: undefined symbol: _ZN14console_bridge14log_deprecatedEPKciNS_8LogLevelES1_z)
[ERROR] [1474085129.430493719, 74.606000000]: Could not load controller 'my_controller_name' because controller type 'my_controller_pkg/MyControllerPlugin' does not exist

I suspect the library path of the plugin is wrong because the path is /home/hadoop436/catkin_ws/devel/lib//libmy_controller_lib.so. I ensure that the controller is configured as a plugin and got registered to the controller manager.

who can help me to solve this problem?