KDL 1.0.2 Ubuntu Install
Note: Depends on Eigen2.
wget http://people.mech.kuleuven.be/~rsmits/kdl/orocos-kdl-1.0.2-src.tar.gz tar -zxvf orocos-kdl-1.0.2-src.tar.gz
In "kdl-1.0.2/config" you'll find a file called "FindEigen2.cmake". Edit its contents for it to point to the installed Eigen2 directory, normally from /usr/include /usr/include/eigen2 to /usr/local/include /usr/local/include/eigen2. For future use, copy it to the CMake Modules path (something like /usr/share/cmake-2.x/Modules). This line would be something like (change the x to your cmake version):
sudo cp FindEigen2.cmake /usr/share/cmake-2.x/Modules
cd kdl-1.0.2; mkdir build; cd build cmake .. make sudo make install cd ../..