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This compilation error looks like an API mismatch. My first guess is that you're trying to build a version or branch of moveit_visual_tools that is not compatible with the version of moveit that is released for ROS Melodic.

From looking through the recent changes to the setFromIK methods in robot_state.h ( https://github.com/ros-planning/moveit/blame/melodic-devel/moveit_core/robot_state/include/moveit/robot_state/robot_state.h ), it looks like a breaking API change was made a few months back, to both moveit and moveit_visual_tools packages: https://github.com/ros-planning/moveit/pull/1096 and https://github.com/ros-planning/moveit_visual_tools/pull/39 . It looks like you need to make sure that your package versions are both before or both after those changes.

There is nothing obviously related to WSL in this error.