Some Errors installing rgbsalm on NVIDA Jetson TK1

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dump of error message:

 [ 37%] Building CXX object rgbdslam_v2-indigo/CMakeFiles/rgbdslam.dir/src/glviewer.cpp.o
In file included from /usr/include/GL/freeglut_std.h:128:0,
                 from /usr/include/GL/glut.h:17,
                 from /home/ubuntu/rgbdslam_catkin_ws/src/rgbdslam_v2-indigo/src/glviewer.cpp:24:
/usr/include/GL/gl.h:138:17: error: conflicting declaration 'typedef double GLdouble'
 typedef double  GLdouble; /* double precision float */
                 ^
In file included from /usr/include/qt4/QtOpenGL/QtOpenGL:5:0,
                 from /home/ubuntu/rgbdslam_catkin_ws/src/rgbdslam_v2-indigo/src/glviewer.cpp:22:
/usr/include/qt4/QtOpenGL/qgl.h:85:17: error: 'GLdouble' has a previous declaration as 'typedef GLfloat GLdouble'
 typedef GLfloat GLdouble;
                 ^
In file included from /usr/include/GL/gl.h:2059:0,
                 from /usr/include/GL/freeglut_std.h:128,
                 from /usr/include/GL/glut.h:17,
                 from /home/ubuntu/rgbdslam_catkin_ws/src/rgbdslam_v2-indigo/src/glviewer.cpp:24:
/usr/include/GL/glext.h:468:19: error: conflicting declaration 'typedef ptrdiff_t GLsizeiptr'
 typedef ptrdiff_t GLsizeiptr;
                   ^
In file included from /usr/include/qt4/QtOpenGL/qgl.h:79:0,
                 from /usr/include/qt4/QtOpenGL/QtOpenGL:5,
                 from /home/ubuntu/rgbdslam_catkin_ws/src/rgbdslam_v2-indigo/src/glviewer.cpp:22:
/usr/include/GLES2/gl2.h:69:25: error: 'GLsizeiptr' has a previous declaration as 'typedef khronos_ssize_t GLsizeiptr'
 typedef khronos_ssize_t GLsizeiptr;
                         ^
In file included from /usr/include/GL/gl.h:2059:0,
                 from /usr/include/GL/freeglut_std.h:128,
                 from /usr/include/GL/glut.h:17,
                 from /home/ubuntu/rgbdslam_catkin_ws/src/rgbdslam_v2-indigo/src/glviewer.cpp:24:
/usr/include/GL/glext.h:469:19: error: conflicting declaration 'typedef ptrdiff_t GLintptr'
 typedef ptrdiff_t GLintptr;
                   ^
In file included from /usr/include/qt4/QtOpenGL/qgl.h:79:0,
                 from /usr/include/qt4/QtOpenGL/QtOpenGL:5,
                 from /home/ubuntu/rgbdslam_catkin_ws/src/rgbdslam_v2-indigo/src/glviewer.cpp:22:
/usr/include/GLES2/gl2.h:70:26: error: 'GLintptr' has a previous declaration as 'typedef khronos_intptr_t GLintptr'
 typedef khronos_intptr_t GLintptr;
                          ^
make[2]: *** [rgbdslam_v2-indigo/CMakeFiles/rgbdslam.dir/src/glviewer.cpp.o] Error 1
make[1]: *** [rgbdslam_v2-indigo/CMakeFiles/rgbdslam.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j1 -l1" failed