I&#39;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.<br>However, I still get errors related to <br>vslam/frame_common/include/frame_common/frame_extended.h:194: error: ‘getPointsInBox’ was not declared in this scope<br>

 <br>I guess I&#39;m going to just try
the stable ros-cturtle-vslam from the repository for now.<br>
<br>Carlos