Solution was very simple:

> import("kdl_typekit")

That's worth putting into the wiki.

Thanks Niccolo!

2013/7/31 Flavian Hautbois <f [dot] hautbois [..] ...>

> Hello everyone,
>
> I want to use KDL in order to generate articular commands from cartesian
> commands.
> I have an URDF for my robot, ROS/Orocos (ROS Groovy, Orocos installed with
> Debian packages, everything running on Ubuntu 12.04 without Xenomai at the
> moment).
>
> What setup do you recommand?
>
> In particular, I am not yet able to use the KDL typekit in Orocos, do I
> have to add something to RTT_COMPONENT_PATH? (which is not defined in my
> environment variables).
> This page [1] says "Make sure you've loaded the KDL typekit by typing
> .types", it doesn't work for me.
>
> Then, should I use KDL as part of an Orocos process, or as part as a ROS
> process? I assume both, but could you point to some documentation, or state
> the pros/cons?
>
> [1] http://www.orocos.org/wiki/orocos/kdl-wiki/kdl-typekit
>
> Thank you,
>
> --
> F. Hautbois
>

Hi Flavian, you need to import the typekit. Try adding:

import("kdl_typekit")

in your deployer.

and then ask for .types.

Niccolo'