KDL 1.0.2 Ubuntu Install

Note: Depends on Eigen2.

wget http://people.mech.kuleuven.be/~rsmits/kdl/orocos-kdl-1.0.2-src.tar.gz
tar -zxvf orocos-kdl-1.0.2-src.tar.gz

In "kdl-1.0.2/config" you'll find a file called "FindEigen2.cmake". Edit its contents for it to point to the installed Eigen2 directory, normally from /usr/include /usr/include/eigen2 to /usr/local/include /usr/local/include/eigen2.

cd kdl-1.0.2; mkdir build; cd build
cmake ..
make
sudo make install
cd ../..