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To use system's readline on on Ubuntu 16.04, one needs to install libncurses5-dev and libreadline-dev (16.04 has a bug: the former is not a dependency of the latter, even though by right it should be)

As far as building Sage's readline goes, unfortunately we have not figured out yet what exactly goes wrong with building Sage's readline on 16.04. As a workaround, in the file build/pkgs/readline/patches/0002-ltinfo.patch replace the line

+       SHLIB_LIBS='$(TERMCAP_LIB)'

with

+   SHLIB_LIBS='-ltinfo -lncurses'

This shoud give a working readline built by Sage (hopefully)