1) Clone the hrl_kdl repository in your catkin-ws folder

cd ~/catkin_ws/src/
git clone https://github.com/amir-yazdani/hrl-kdl.git

2) Checkout to the noetic-devel branch

cd hrl-kdl
git checkout noetic-devel

3) Install pykd_utils

cd hrl-kdl/pykdl_utils
python3 setup.py build
sudo python3 setup.py install

3) Install hrl_geom

cd ~/catkin_ws/src/hrl-kdl/hrl_geom/
python3 setup.py build
sudo python3 setup.py install

4) Install urdf_parser and urdfdom-py

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

5) Build the catkin workspace

cd ~/catkin_ws
catkin build