1) clone the hrl_kdl repository

git clone https://github.com/gt-ros-pkg/hrl-kdl.git

2) install pykd_utils

cd hrl-kdl/pykdl_utils
python setup.py build
sudo python setup.py install

3) install hrl_geom

cd ~/catkin_ws/src/hrl-kdl/hrl_geom/
python setup.py build
sudo python setup.py install

4) install urdf_parser and urdfdom-py

sudo apt-get install ros-kinetic-urdf-parser-plugin
sudo apt-get install ros-kinetic-urdfdom-py

5) build the catkin workspace

cd ~/catkin_ws
catkin build