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try changing the offending line in g2o/types/slam2d/edge_se2_pointxy_bearing.cpp from:
t.setRotation(t.rotation().angle()+_measurement);
to
t.setRotation((Eigen::Rotation2Dd)(t.rotation().angle()+_measurement));
This fixes that particular compile issue for me. Haven't finished compiling it yet tho. And I don't know if it prevent the software from working properly. My C++ skills are noobish.