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The compile error is likely too specific for an answer here. (Try the Mapserver mailing lists: mapserver.org/community/lists.html .) If you don't need to build Mapserver from source, there's a binary for 10.1 in the ubuntugis PPA. To install, do sudo add-apt-repository ppa:ubuntugis/ppa then sudo apt-get update, and finally install the mapserver binary with sudo apt-get install mapserver.
sudo add-apt-repository ppa:ubuntugis/ppa
thensudo apt-get update
, and finally install the mapserver binary withsudo apt-get install mapserver
.