从GITHUB上下载源码(https://github.com/orocos/orocos_kinematics_dynamics)
1、在orocos_kdl目录下
`ccmake .`
2、配置为如下形式
BUILD_MODELS ON
BUILD_MODELS_DEMO OFF
BUILD_SHARED_LIBS ON
CATKIN_ENABLE_TESTING ON
CATKIN_PACKAGE_PREFIX
CATKIN_SKIP_TESTING OFF
CATKIN_SYMLINK_INSTALL OFF
CMAKE_BUILD_TYPE Release
CMAKE_INSTALL_PREFIX /usr/local
CPPUNIT /usr/lib/x86_64-linux-gnu/libcppunit.so
CPPUNIT_HEADERS /usr/include
DOXYGEN_EXECUTABLE DOXYGEN_EXECUTABLE-NOTFOUND
EMPY_EXECUTABLE /usr/bin/empy
EMPY_SCRIPT /usr/bin/empy
ENABLE_EXAMPLES ON
ENABLE_TESTS OFF
Eigen3_DIR /usr/lib/cmake/eigen3
GMock_DIR GMock_DIR-NOTFOUND
KDL_USE_NEW_TREE_INTERFACE OFF
LSB_FOUND ON
LSB_RELEASE_EXECUTABLE /usr/bin/lsb_release
NOSETESTS /usr/bin/nosetests-2.7
PYTHON_VERSION 2
RT_LIBRARY /usr/lib/x86_64-linux-gnu/librt.so
SETUPTOOLS_DEB_LAYOUT ON
SITE fgs