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