安装KDL运动学库

安装KDL

1.安装eigen

//git下载
git clone https://gitlab.com/libeigen/eigen.git
//进入git目录
cd eigen
mkdir build_dir
cd build_dir
cmake ..
sudo make install
//Eigen默认安装到/usr/local/include/eigen3下，需要移动到/usr/local/include/目录下
sudo cp -r /usr/local/include/eigen3/Eigen /usr/local/include

2.安装KDL

# 从源码安装
git clone https://github.com/orocos/orocos_kinematics_dynamics.git
cd orocos_kinematics_dynamics/
mkdir build
cd build/
cmake ..
make
sudo make install		#安装完成

#使用ros指令安装
git clone https://github.com/orocos/orocos_kinematics_dynamics.git
rosdep init
...
catkin_make_isolated

sudo apt install ros-melodic-orocos-kdl