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In order to get rid of the compilation errors, I adjusted the C++ code a bit: both errors stemmed from the file nao_openni/src/teleop_nao_ni.cpp. I commented out these 2 lines:

teleop_nao_ni.cpp:872: //obj.m_speechPub.publish(naosay.data); teleop_nao_ni.cpp:976: //teleopNao.m_speechPub.publish(naosay.data);

after which I was able to run the command "rosmake nao_openni" without errors. I assume that my changes in the source file will not have any effect on the behaviour of the nao, except that the nao will a little more silent.