you wrote in README:
cp upnp/inc/ixml.h /usr/include/
The last line is vital due to the bug in the SDK's makefiles
For whatever reason ixml.h is not being installed and nothing
using libupnp sdk will compile without that.
I did it, howewer configure says:
checking for upnp/ixml.h... no
So, the README file should say:
cp upnp/inc/ixml.h /usr/include/upnp/
oops, that's an important one! thank you!!
I've just submitted a patch on libupnp  (I had on my machine for sometime) that fixes, among others, this issue with the libupnp makefiles.
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