error while loading shared libraries

You need to tell the dynamic linker where to look for the libraries. Assuming this is some sort of UNIX/Linux system, this can be done either via setting the LD_LIBRARY_PATH environment variable before executing the program:

export LD_LIBRARY_PATH=/path/to/lib
./run-my-program

or by setting the run-time linker path during compile time:

gcc -L/path/to/lib -Wl,-rpath,/path/to/lib -lxmlrpc_client++ ...
./run-my-program

Both approaches have problems. Google for "why LD_LIBRARY_PATH is bad". The command-line options for setting the run-time linker path varies from one compiler to another.