After some digging, I was able to install the xorg devel package that set up glu.h. However, now I get glfw errors like 'undefined reference to glfwInit' and also for glfwOpenWindow and glfwTerminate.
The odd thing is that those methods are available in code completion lists for both the #include and the method calls. I've tried reinstalling the glfw and glfw-devel packages to no avail.
"Undefined reference to" is an error from the linker. How are you compiling or linking the program? If you're doing it by hand on the command line or in your own Makefile, do you have "-lglfw" (dash, lower case "L", "glfw") somewhere in there?
I found a way to add a reference to an external library (glfw) and that seemed to fix the problem. Now I need to do some digging into the subsequent issue - errors related to ATIFGLEXTENSION...