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Requirements

• Eigen2
• Sip 4.7.9 and python for the python bindings
• Cmake 2.6

Supported Platforms

• Linux
• Windows
• Mac

Installation

There are different ways for getting the software.

From debian/ubuntu packages

Orocos KDL is part of the geometry stack in the ROS distributions pre-Electric.

• ros-cturtle/diamondback-geometry

Since ROS Electric it is available stand-alone as the orocos-kinematics-dynamics stack.

• ros-electric/fuerte-orocos-kinematics-dynamics

Source using git

git clone https://github.com/orocos/orocos_kinematics_dynamics.git

Building source with ROS

• Follow the guidelines at Building ROS packages to build orocos_kdl with catkin_make_isolated

Building source with plain CMake

• goto your orocos_kdl directory
• create a build directory inside the orocos_kdl-dir and go inside:

mkdir <kdl-dir>/build ; cd <kdl-dir>/build

• Launch ccmake

ccmake ..

• configure [c], select the bindings you want to create, choose an appropriate installation directory
• configure[c], generate makefiles [g]
• make, wait, install and check

make;make check;make install