I was hoping that an Ubuntu user would jump in here, but looks like you are stuck with me for the time being!
First, I would use the package manager to verify whether a xerces-c package is installed on your system. You may have the program installed, but what you need is the dev package which has the includes and headers needed by your build environment.
Then I would locate the xerces-c and xerces-c-dev package for your version in the official repos, and install it if not already installed.
A quick search found this...
Xerces-c source package
...so it looks as if it is supported, and I see the dev package listed there as well.
If you are not sure how to use the package manager then we will need to wait for someone more familiar with Ubuntu to join the conversation.
Once that is installed, try building your program again and see if that deosn't fix this problem!
Good luck!