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Like you I ran into issues getting rgbdslam running. My setup: Ubuntu 12.04 LTS, x64, ROS Fuerte (installed from packages), rgbdslam from svn (revision 3652). Here's how I got rgbdslam build and running.
The problem I ran into when running rosmake -V rgbdslam_freiburg (-V for verbose output) was that it gave the error: “Could not find module Findg2o.cmake or a configuration file for package g2o”. This is despite running rosdep update && rosdep install rgbdslam_freiburg which installs the ros-fuerte-libg2o dependency package. From what I can see, the latest g2o package is different and puts files in different places.
The solution was to use an older g2o package. If you're also on 64 bit Ubuntu 12.04, you could grab this package from my webserver by running wget robotang.co.nz/assets/Uploads/ros/ros-fuerte-libg2o_0.0.26_amd64.zip. Unzip it and install it by going sudo dpkg -i ros-fuerte-libg2o*. Now re-run rosmake and hopefully it will build now!
I ran into another problem when it was linking: “error: undefined reference to 'clock_gettime'". Edit rgbdslam/CMakeLists.txt, and appropriately add “-lrt” in target_link_libraries. After these steps, rgbdslam is working for me.
RT
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