orocos安装,在CPP中使用orocos-kdl和kdl_parser

I am using orocos-kdl and kdl_parser in CPP. Since, ROS is installed in my pc, I can get these files /opt/ros/indigo/lib/libkdl_parser.so and

/opt/ros/indigo/lib/liborocos-kdl.so.1.3.0. Below is the main code i.e., test.cpp-

#include

#include

#include

#include

#include

int main(int argc, char** argv)

{

std::string urdf_file = "robot.urdf";

std::string base_link = "base";

std::string tip_link = "end_effector";

KDL::Tree tree;

if (!kdl_parser::treeFromFile(urdf_file, tree)) {

printf("Failed to construct kdl tree\n");

return -1;

}

KDL::Chain chain;

if (!tree.getChain(base_link, tip_link, chain))

printf("Couldn't find chain from %s to %s\n", base_link.c_str(), tip_li