I tested vslam about  2 months ago, but now I can't compile it.
My steps:
1. Install cturtle from repository.
2.
 # Download vision_opencv, point_cloud_perception and vslam sources
$ rosinstall .  /opt/ros/cturtle
https://code.ros.org/svn/wg-ros-pkg/branches/trunk_cturtle/rosinstall_files/cturtle/vslam-cturtle-base-overlay.rosinstall

# Set up environment
$ . ~/MYDIR/setup.sh

# Build
$ rosmake --rosdep-install vslam_system
Here I get errors:

 rosmake ] Packages requested are: ['vslam_system']                            
[ rosmake ] Logging to
directory/root/.ros/rosmake/rosmake_output-20101205-205350
[ rosmake ] Expanded args ['vslam_system'] to:
['vslam_system']                 
[ rosmake ] Generating Install Script using rosdep then executing. This may
take a minute, you will be prompted for permissions. . .
[rosstack] couldn't find dependency [perception_pcl] of
[point_cloud_perception]
[rosstack] missing dependency
Failed to find stack for package [eigen3]
Failed to load rosdep.yaml for package [eigen3]:Cannot locate installation
of package eigen3: [rospack] couldn't find package [eigen3].
ROS_ROOT[/opt/ros/cturtle/ros]
ROS_PACKAGE_PATH[/opt/ros/unstable/vslam:/opt/ros/unstable/point_cloud_perception:/opt/ros/unstable/vision_opencv:/opt/ros/cturtle/stacks]
Failed to find stack for package [pcl]
Failed to load rosdep.yaml for package [pcl]:Cannot locate installation of
package pcl: [rospack] couldn't find package [pcl].
ROS_ROOT[/opt/ros/cturtle/ros]
ROS_PACKAGE_PATH[/opt/ros/unstable/vslam:/opt/ros/unstable/point_cloud_perception:/opt/ros/unstable/vision_opencv:/opt/ros/cturtle/stacks]
executing this script:
 set -o errexit
#No Packages to install
[ rosmake ] rosdep successfully installed all system dependencies               
[rosmake-0] Starting >>> vslam_system [ make ]                                  
[ rosmake ] All 32 linesslam_system: 1.1 sec ]         [ 1 Active 2/9
Complete ]
[rosmake-1] Starting >>> roslang [ make ]                                       
{-------------------------------------------------------------------------------
  mkdir -p bin
  cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find
rosbuild`/rostoolchain.cmake  ..
  -- The C compiler identification is GNU
  -- The CXX compiler identification is GNU
[rosmake-1] Finished <<< roslang ROS_NOBUILD in package roslang
 No Makefile in package roslang
  -- Check for working C compiler: /usr/bin/gcc
  -- Check for working C compiler: /usr/bin/gcc -- works
  -- Detecting C compiler ABI info
  -- Detecting C compiler ABI info - done
  -- Check for working CXX compiler: /usr/bin/c++
  -- Check for working CXX compiler: /usr/bin/c++ -- works
  -- Detecting CXX compiler ABI info
  -- Detecting CXX compiler ABI info - done
  [rosbuild] Building package vslam_system
  Failed to invoke /opt/ros/cturtle/ros/bin/rospack deps-manifests
vslam_system
  [rospack] couldn't find dependency [pcl] of [vslam_system]
  [rospack] missing dependency
  
  
  CMake Error at /opt/ros/cturtle/ros/core/rosbuild/public.cmake:113
(message):
    
  
    Failed to invoke rospack to get compile flags for package
'vslam_system'.
    Look above for errors from rospack itself.  Aborting.  Please fix the
    broken dependency!
  
  Call Stack (most recent call first):
    /opt/ros/cturtle/ros/core/rosbuild/public.cmake:178
(rosbuild_invoke_rospack)
    CMakeLists.txt:8 (rosbuild_init)
  
  
  -- Configuring incomplete, errors occurred!
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package vslam_system written to:
[ rosmake ]   
/root/.ros/rosmake/rosmake_output-20101205-205350/vslam_system/build_output.log
[rosmake-0] Finished <<< vslam_system [FAIL] [ 1.09 seconds ]                   
[rosmake-1] Starting >>> roslib [ make ]                                        
[rosmake-1] Finished <<< roslib ROS_NOBUILD in package roslib                   
[ rosmake ] Halting due to failure in package vslam_system. 
[ rosmake ] Waiting for other threads to complete.
[rosmake-1] Starting >>> xmlrpcpp [ make ]                                      
[rosmake-1] Finished <<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp               
[ rosmake ] Results:                                                            
[ rosmake ] Built 6 packages with 1 failures.                                   
[ rosmake ] Summary output to directory                                         
[ rosmake ] /root/.ros/rosmake/rosmake_output-20101205-205350          


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