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The problem is that OSX doesn't provide readline, it provides libedit instead, which is a BSD-based compatibility library. It's not that compatible though. For instance the global variable rl_completion_suppress_append is missing, hence the error.
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If I set, either just HISTORY_DIR or both HISTORY_DIR and READLINE_DIR to /opt with:
$ sudo luarocks install luaprompt HISTORY_DIR=/opt READLINE_DIR=/opt
I get a module linked correctly against my self-compiled libraries:
Lua versions 5.1 to 5.3 inclusive are supported, as is LuaJIT.