We are building master branch every night for bionic with no problems.

/usr/bin/make -C src/ every-module 
make[2]: Entering directory '/tmp/buildd/kamailio-5.2.0~dev6+0~20180726010658.1165+bionic/src'
CC (gcc) [M db_mysql.so]		km_dbase.o
CC (gcc) [M db_mysql.so]		km_my_con.o
CC (gcc) [M db_mysql.so]		km_val.o
CC (gcc) [M db_mysql.so]		my_fld.o
CC (gcc) [M db_mysql.so]		km_row.o
CC (gcc) [M db_mysql.so]		my_con.o
CC (gcc) [M db_mysql.so]		km_res.o
CC (gcc) [M db_mysql.so]		my_cmd.o
CC (gcc) [M db_mysql.so]		db_mysql.o
CC (gcc) [M db_mysql.so]		my_res.o
CC (gcc) [M db_mysql.so]		my_uri.o
CC (gcc) [M db_mysql.so]		km_db_mysql.o
make[4]: 'libsrdb2.so.1.0' is up to date.
make[4]: 'libsrdb1.so.1.0' is up to date.
LD (gcc) [M db_mysql.so]		db_mysql.so
make[2]: Leaving directory '/tmp/buildd/kamailio-5.2.0~dev6+0~20180726010658.1165+bionic/src'

And there are no related changes on db_mysql AFAICT I would say you are missing dev libraries

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