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