Installing Guide :

Python 2 for Ubuntu 16.04/18.04 with ROS Kinetic/Melodic

1) move to your catkin workspace

cd ~/catkin_ws/src/

2) clone the hrl_kdl repository

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

3) install pykd_utils

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

4) install hrl_geom

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

5) install urdf_parser and urdfdom-py

sudo apt-get install ros-<ROS distibution>-urdf-parser-plugin
sudo apt-get install ros-<ROS distibution>-urdfdom-py

6) build the catkin workspace

cd ~/catkin_ws
catkin build

Python 3 for Ubuntu 20.04 with ROS Noetic

1) move to your catkin workspace

cd ~/catkin_ws/src/

2) clone the hrl_kdl repository

git clone https://github.com/amir-yazdani/hrl-kdl.git

3) checkout to the noetic-devel branch

cd hrl-kdl
git checkout noetic-devel

4) install pykd_utils

cd pykdl_utils
python3 setup.py build
sudo python3 setup.py install

5) 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