link error related to boost::thread

I am developing a hwdriver driver for the Chr-UM6 IMU and I am trying to test it before I put a MRPT CGeneraicSensor class compatible wrapper around it.

My code for the driver compiles but I'm getting link errors.  I believe it's related to my CMakeLists.txt.  Instead of attaching all my files, I've created a small test case that results in the same errors:

Scanning dependencies of target ChrUM6_driver_exe
[ 50%] Building CXX object CMakeFiles/ChrUM6_driver_exe.dir/src/CThread.cpp.o
[100%] Building CXX object CMakeFiles/ChrUM6_driver_exe.dir/src/main2.cpp.o
Linking CXX executable ChrUM6_driver_exe
CMakeFiles/ChrUM6_driver_exe.dir/src/CThread.cpp.o: In function `CThread::stop()':
CThread.cpp:(.text+0x11): undefined reference to `boost::thread::interrupt()'
CThread.cpp:(.text+0x1c): undefined reference to `boost::thread::interrupt()'
CMakeFiles/ChrUM6_driver_exe.dir/src/CThread.cpp.o: In function `CThread::~CThread()':
CThread.cpp:(.text+0xa7): undefined reference to `boost::thread::~thread()'
CThread.cpp:(.text+0xc5): undefined reference to `boost::thread::~thread()'
CMakeFiles/ChrUM6_driver_exe.dir/src/CThread.cpp.o: In function `CThread::~CThread()':
CThread.cpp:(.text+0xf7): undefined reference to `boost::thread::~thread()'
CThread.cpp:(.text+0x102): undefined reference to `boost::thread::~thread()'
CThread.cpp:(.text+0x11d): undefined reference to `boost::thread::~thread()'
CMakeFiles/ChrUM6_driver_exe.dir/src/CThread.cpp.o: In function `CThread::CThread()':
CThread.cpp:(.text+0x14c): undefined reference to `boost::thread::thread()'
CThread.cpp:(.text+0x157): undefined reference to `boost::thread::thread()'
CThread.cpp:(.text+0x16f): undefined reference to `boost::thread::~thread()'
CMakeFiles/ChrUM6_driver_exe.dir/src/CThread.cpp.o: In function `CThread::start()':
CThread.cpp:(.text+0x2b3): undefined reference to `vtable for boost::detail::thread_data_base'
CThread.cpp:(.text+0x479): undefined reference to `boost::thread::start_thread()'
CThread.cpp:(.text+0x51b): undefined reference to `boost::thread::~thread()'
CThread.cpp:(.text+0x526): undefined reference to `boost::thread::~thread()'
CThread.cpp:(.text+0x566): undefined reference to `vtable for boost::detail::thread_data_base'
CThread.cpp:(.text+0x729): undefined reference to `boost::thread::start_thread()'
CThread.cpp:(.text+0x7dd): undefined reference to `boost::thread::~thread()'
CThread.cpp:(.text+0x7e8): undefined reference to `boost::thread::~thread()'
CThread.cpp:(.text+0xa42): undefined reference to `boost::thread::~thread()'
CThread.cpp:(.text+0xbcd): undefined reference to `boost::thread::~thread()'
CMakeFiles/ChrUM6_driver_exe.dir/src/CThread.cpp.o: In function `CThread::~CThread()':
CThread.cpp:(.text+0xb7): undefined reference to `boost::thread::~thread()'
CMakeFiles/ChrUM6_driver_exe.dir/src/CThread.cpp.o: In function `CThread::joinRxThread()':
CThread.cpp:(.text+0x1e2): undefined reference to `boost::thread::join()'
CMakeFiles/ChrUM6_driver_exe.dir/src/CThread.cpp.o: In function `CThread::joinTxThread()':
CThread.cpp:(.text+0x222): undefined reference to `boost::thread::join()'
CMakeFiles/ChrUM6_driver_exe.dir/src/CThread.cpp.o: In function `boost::detail::thread_data<boost::_bi::bind_t<void, boost::_mfi::mf0<void, CThread>, boost::_bi::list1<boost::reference_wrapper<CThread> > > >::~thread_data()':
CThread.cpp:(.text._ZN5boost6detail11thread_dataINS_3_bi6bind_tIvNS_4_mfi3mf0Iv7CThreadEENS2_5list1INS_17reference_wrapperIS6_EEEEEEED2Ev[_ZN5boost6detail11thread_dataINS_3_bi6bind_tIvNS_4_mfi3mf0Iv7CThreadEENS2_5list1INS_17reference_wrapperIS6_EEEEEEED5Ev]+0x11): undefined reference to `boost::detail::thread_data_base::~thread_data_base()'
CMakeFiles/ChrUM6_driver_exe.dir/src/CThread.cpp.o: In function `boost::detail::thread_data<boost::_bi::bind_t<void, boost::_mfi::mf0<void, CThread>, boost::_bi::list1<boost::reference_wrapper<CThread> > > >::~thread_data()':
CThread.cpp:(.text._ZN5boost6detail11thread_dataINS_3_bi6bind_tIvNS_4_mfi3mf0Iv7CThreadEENS2_5list1INS_17reference_wrapperIS6_EEEEEEED0Ev[_ZN5boost6detail11thread_dataINS_3_bi6bind_tIvNS_4_mfi3mf0Iv7CThreadEENS2_5list1INS_17reference_wrapperIS6_EEEEEEED5Ev]+0x14): undefined reference to `boost::detail::thread_data_base::~thread_data_base()'
CMakeFiles/ChrUM6_driver_exe.dir/src/CThread.cpp.o:(.rodata._ZTIN5boost6detail11thread_dataINS_3_bi6bind_tIvNS_4_mfi3mf0Iv7CThreadEENS2_5list1INS_17reference_wrapperIS6_EEEEEEEE[typeinfo for boost::detail::thread_data<boost::_bi::bind_t<void, boost::_mfi::mf0<void, CThread>, boost::_bi::list1<boost::reference_wrapper<CThread> > > >]+0x8): undefined reference to `typeinfo for boost::detail::thread_data_base'
CMakeFiles/ChrUM6_driver_exe.dir/src/main2.cpp.o: In function `main':
main2.cpp:(.text+0x1e): undefined reference to `TestThread::TestThread()'
main2.cpp:(.text+0x2e): undefined reference to `TestThread::~TestThread()'
main2.cpp:(.text+0x56): undefined reference to `TestThread::~TestThread()'
collect2: ld returned 1 exit status
make[2]: *** [ChrUM6_driver_exe] Error 1
make[1]: *** [CMakeFiles/ChrUM6_driver_exe.dir/all] Error 2
make: *** [all] Error 2
================================================

I've attached (Oops! can't attach source so here they are inline:)

main2.cpp:

------------------------------------------------

#include "CThread.h"
/*
 *
 */

class TestThread : public CThread {
public:
    TestThread() ;
    virtual ~TestThread();
protected:
    void msleep(uint32_t ms) {
        clock_t end = clock() + (CLOCKS_PER_SEC/1000) * ms ;
        clock_t diff;
        while ((diff = end - clock()) > 0) {
            diff = (1000 * diff) / CLOCKS_PER_SEC;
            if (diff > 1000)
                sleep(diff / 1000);
            else
                usleep(diff * 1000);
        }
    }
    void receiveLoop() {
        msleep(1000) ;
    }
    void transmitLoop() {
        msleep(900) ;
    }
} ;

int main(int argc, char** argv) {

    TestThread test ;
    //
    test.start() ;

    return (EXIT_SUCCESS);
}
---------------------------------
CThread.h and CThread.cpp:

-------------------------------------

#ifndef CTHREAD_H
#define    CTHREAD_H

#include <boost/thread/thread.hpp>
#include <boost/bind.hpp>
#include <iostream>

class CThread {
public:
  CThread() ;
  virtual ~CThread() ;
  void join() ;
  virtual bool start() ;
  virtual void stop() ;
protected:
  virtual void receiveLoop() = 0 ;    
  virtual void transmitLoop() = 0 ;
  void joinRxThread() ;
  void joinTxThread() ;
private:
    boost::thread rxThread;
    boost::thread txThread;
    bool isRunning  ;
};

#endif    /* CTHREAD_H */
------------------------------
// CThread.cpp

#include "CThread.h"

CThread::CThread() :
  isRunning(false) {
}

CThread::~CThread() {
}

bool CThread::start() {
    try {
    rxThread = boost::thread( boost::bind( &CThread::receiveLoop,
                                               boost::ref(*this) )
                                );
    } catch (std::exception &e) {
        std::cerr << "CThread::start(): Exception - While creating Rx thread: " << e.what() << std::endl ;
        return false ;
    }
    try {
    txThread = boost::thread( boost::bind( &CThread::transmitLoop,
                                               boost::ref(*this) )
                                );
    } catch (std::exception &e) {
        std::cerr << "CThread::start(): Exception - While creating Tx thread: " << e.what() << std::endl ;
        return false ;
    }
    isRunning = true ;
    return true ;
}

void CThread::stop() {
    try {
        txThread.interrupt() ;
        rxThread.interrupt() ;
        isRunning = false ;
    } catch (std::exception &e) {
        std::cerr << "CPortListener::stopPortListener(): Exception - while trying to interrupt a thread: " << e.what() << std::endl ;
    }
}
void CThread::join() {
    std::cerr << "CThread::join(): Not implemented - Call has no effect\n" ;
    //t.join() ;
}

void CThread::joinRxThread() {
    std::cout << "CThread::joinRxThread():  Called.\n" ;
    rxThread.join() ;
}

void CThread::joinTxThread() {
    std::cout << "CThread::joinTxThread():  Called.\n" ;
    txThread.join() ;
}
------------------------------

CMakelists.com

See attached....

==============================

I'm building these files outside of the mrpt/hwdrivers source tree so that I can use an IDE (Netbeans).  I used the same approach to extract the XSens driver stuff and it built without similar errors, albeit it doesn't use boost/thread.hpp.

The provided main was only for the purpose of illustrating the error with minimal code.  I know it's a poor execution example.

As you can see, I'm using more boost functionality but not resolving it properly.  Any constructive advice or suggestions?

Thanks in advance.