I'm facing the same situation with the KdTreeANN error. I could get rid off
the problem by modifying the pertaining lines to use KdTreeFLANN, and that
solves that part.
However, I still get errors related to
vslam/frame_common/include/frame_common/frame_extended.h:194: error:
‘getPointsInBox’ was not declared in this scope

I guess I'm going to just try the stable ros-cturtle-vslam from the
repository for now.

Carlos