TransformBroadcaster and Gazebo plugins

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Hi, I have been wanting to get various Gazebo plugins working with ROS using SDF format, starting with Differential Drive plugin. I had some small success getting Twist messages to change joint states, but now I want to get odometry working. I have just pieced together what I could from erraticgazeboplugins and the DRCSim plugins.

DiffDriveROSPlugin.cpp

this->transformBroadcaster = new tf::TransformBroadcaster();

Any time I want to declare a TransformBroadcaster type I get this error:

gazebo: symbol lookup error:

/home/thelegace/fuerteworkspace/alesrobot/ales_msgs/lib/libDiffDriveROSPlugin.so: undefined symbol: _ZN2tf20TransformBroadcasterC1Ev

If I comment out the transform broadcaster instantiation my plugin loads fine. The pioneer2dx model file.

Please let know if there any issue with the code or anything else that I am doing.