Linking TF library problems in ROS - linker

Question

I'm having a linker issue while using the tf library. Below is my callback. Without the only line in the callback there is no linker error. Please, find below the linker error itself.
void callback (const sensor_msgs::PointCloud2ConstPtr& input)
{
listener->waitForTransform("/world_base_link", (*input).header.frame_id, (*input).header.stamp, ros::Duration(5.0));
}
int main (int argc, char** argv)
{
ros::init(argc, argv, "subscriber");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("/kinect2/depth/points", 1, callback);
ros::spin ();
}
Linker error:
Linking CXX executable range_image_border_extraction
CMakeFiles/range_image_border_extraction.dir/range_image_border_extraction.cpp.o: In function `callback(boost::shared_ptr<sensor_msgs::PointCloud2_<std::allocator<void> > const> const&)':
range_image_border_extraction.cpp:(.text+0x18c): undefined reference to `tf::Transformer::waitForTransform(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, ros::Duration const&, ros::Duration const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> >*) const'
collect2: ld returned 1 exit status
make[2]: *** [range_image_border_extraction] Error 1
make[1]: *** [CMakeFiles/range_image_border_extraction.dir/all] Error 2
make: *** [all] Error 2
CMakeLists.txt:
cmake_minimum_required(VERSION 2.6 FATAL_ERROR)
project(range_image_border_extraction)
find_package(PCL 1.7 REQUIRED)
find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs genmsg)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(range_image_border_extraction range_image_border_extraction.cpp)
target_link_libraries(range_image_border_extraction ${PCL_LIBRARIES})
target_link_libraries(range_image_border_extraction ${catkin_LIBRARIES})
package.xml
<?xml version="1.0"?>
<package>
<name>ipa325_com_client</name>
<version>1.0.0</version>
<description>Simulation client side communication interface</description>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>control_msgs</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>ipa325_msgs</build_depend>
<build_depend>ipa325_com_msgs</build_depend>
<build_depend>message_generation</build_depend>
<run_depend>tf</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>rospy</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>control_msgs</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>ipa325_com_msgs</run_depend>
<run_depend>ipa325_msgs</run_depend>
<run_depend>message_runtime</run_depend>
<export></export>
</package>
Any ideas how to resolve this linker error?