法1

step1：cd到orocos_kdl目录下，新建文件夹buildstep2：切换到build中执行ccmake ..step3：将BUILD_MODELS和ENABLE_EXAMPLES两项设为ON，选c选项生成配置信息，然后选e退出提示 step4：这时发现多了一个g选项，选g，然后会自动退出配置GUI界面 step5：执行如下命令make sudo make install

大功告成！！！！

法2

cd orocos_kinematics_dynamics/orocos_kdl mkdir build && cd build cmake -DCMAK_BUILD_TYPE=Release .. make -j8 sudo make install

根据终端显示查看头文件所在目录

Install the project… – Install configuration: “Release” – Installing: /usr/local/share/orocos_kdl/cmake/FindEigen3.cmake – Installing: /usr/local/share/orocos_kdl/cmake/orocos_kdl-config.cmake – Installing: /usr/local/share/orocos_kdl/cmake/orocos_kdl-config-version.cmake – Installing: /usr/local/share/orocos_kdl/cmake/OrocosKDLTargets.cmake – Installing: /usr/local/share/orocos_kdl/cmake/OrocosKDLTargets-release.cmake – Installing: /usr/local/lib/pkgconfig/orocos-kdl.pc – Installing: /usr/local/lib/pkgconfig/orocos_kdl.pc – Installing: /usr/local/share/orocos_kdl/package.xml – Installing: /usr/local/lib/liborocos-kdl.so.1.4.0 – Installing: /usr/local/lib/liborocos-kdl.so.1.4 – Installing: /usr/local/lib/liborocos-kdl.so – Set runtime path of “/usr/local/lib/liborocos-kdl.so.1.4.0” to “$ORIGIN/…/lib” – Installing: /usr/local/include/kdl/articulatedbodyinertia.hpp – Installing: /usr/local/include/kdl/chain.hpp – Installing: /usr/local/include/kdl/chaindynparam.hpp – Installing: /usr/local/include/kdl/chainfdsolver.hpp – Installing: /usr/local/include/kdl/chainfdsolver_recursive_newton_euler.hpp – Installing: /usr/local/include/kdl/chainfksolver.hpp – Installing: /usr/local/include/kdl/chainfksolverpos_recursive.hpp – Installing: /usr/local/include/kdl/chainfksolvervel_recursive.hpp – Installing: /usr/local/include/kdl/chainidsolver.hpp – Installing: /usr/local/include/kdl/chainidsolver_recursive_newton_euler.hpp – Installing: /usr/local/include/kdl/chainidsolver_vereshchagin.hpp – Installing: /usr/local/include/kdl/chainiksolver.hpp – Installing: /usr/local/include/kdl/chainiksolverpos_lma.hpp – Installing: /usr/local/include/kdl/chainiksolverpos_nr.hpp – Installing: /usr/local/include/kdl/chainiksolverpos_nr_jl.hpp – Installing: /usr/local/include/kdl/chainiksolvervel_pinv.hpp – Installing: /usr/local/include/kdl/chainiksolvervel_pinv_givens.hpp – Installing: /usr/local/include/kdl/chainiksolvervel_pinv_nso.hpp – Installing: /usr/local/include/kdl/chainiksolvervel_wdls.hpp – Installing: /usr/local/include/kdl/chainjnttojacdotsolver.hpp – Installing: /usr/local/include/kdl/chainjnttojacsolver.hpp – Installing: /usr/local/include/kdl/frameacc.hpp – Installing: /usr/local/include/kdl/frameacc_io.hpp – Installing: /usr/local/include/kdl/frames.hpp – Installing: /usr/local/include/kdl/frames_io.hpp – Installing: /usr/local/include/kdl/framevel.hpp – Installing: /usr/local/include/kdl/framevel_io.hpp – Installing: /usr/local/include/kdl/jacobian.hpp – Installing: /usr/local/include/kdl/jntarray.hpp – Installing: /usr/local/include/kdl/jntarrayacc.hpp – Installing: /usr/local/include/kdl/jntarrayvel.hpp – Installing: /usr/local/include/kdl/jntspaceinertiamatrix.hpp – Installing: /usr/local/include/kdl/joint.hpp – Installing: /usr/local/include/kdl/kdl.hpp – Installing: /usr/local/include/kdl/kinfam.hpp – Installing: /usr/local/include/kdl/kinfam_io.hpp – Installing: /usr/local/include/kdl/motion.hpp – Installing: /usr/local/include/kdl/path.hpp – Installing: /usr/local/include/kdl/path_circle.hpp – Installing: /usr/local/include/kdl/path_composite.hpp – Installing: /usr/local/include/kdl/path_cyclic_closed.hpp – Installing: /usr/local/include/kdl/path_line.hpp – Installing: /usr/local/include/kdl/path_point.hpp – Installing: /usr/local/include/kdl/path_roundedcomposite.hpp – Installing: /usr/local/include/kdl/rigidbodyinertia.hpp – Installing: /usr/local/include/kdl/rotational_interpolation.hpp – Installing: /usr/local/include/kdl/rotational_interpolation_sa.hpp – Installing: /usr/local/include/kdl/rotationalinertia.hpp – Installing: /usr/local/include/kdl/segment.hpp – Installing: /usr/local/include/kdl/solveri.hpp – Installing: /usr/local/include/kdl/stiffness.hpp – Installing: /usr/local/include/kdl/trajectory.hpp – Installing: /usr/local/include/kdl/trajectory_composite.hpp – Installing: /usr/local/include/kdl/trajectory_segment.hpp – Installing: /usr/local/include/kdl/trajectory_stationary.hpp – Installing: /usr/local/include/kdl/tree.hpp – Installing: /usr/local/include/kdl/treefksolver.hpp – Installing: /usr/local/include/kdl/treefksolverpos_recursive.hpp – Installing: /usr/local/include/kdl/treeidsolver.hpp – Installing: /usr/local/include/kdl/treeidsolver_recursive_newton_euler.hpp – Installing: /usr/local/include/kdl/treeiksolver.hpp – Installing: /usr/local/include/kdl/treeiksolverpos_nr_jl.hpp – Installing: /usr/local/include/kdl/treeiksolverpos_online.hpp – Installing: /usr/local/include/kdl/treeiksolvervel_wdls.hpp – Installing: /usr/local/include/kdl/treejnttojacsolver.hpp – Installing: /usr/local/include/kdl/velocityprofile.hpp – Installing: /usr/local/include/kdl/velocityprofile_dirac.hpp – Installing: /usr/local/include/kdl/velocityprofile_rect.hpp – Installing: /usr/local/include/kdl/velocityprofile_spline.hpp – Installing: /usr/local/include/kdl/velocityprofile_trap.hpp – Installing: /usr/local/include/kdl/velocityprofile_traphalf.hpp – Installing: /usr/local/include/kdl/frameacc.inl – Installing: /usr/local/include/kdl/frames.inl – Installing: /usr/local/include/kdl/framevel.inl – Installing: /usr/local/include/kdl/config.h – Installing: /usr/local/include/kdl/utilities/error.h – Installing: /usr/local/include/kdl/utilities/error_stack.h – Installing: /usr/local/include/kdl/utilities/kdl-config.h – Installing: /usr/local/include/kdl/utilities/rall1d.h – Installing: /usr/local/include/kdl/utilities/rall1d_io.h – Installing: /usr/local/include/kdl/utilities/rall2d.h – Installing: /usr/local/include/kdl/utilities/rall2d_io.h – Installing: /usr/local/include/kdl/utilities/rallNd.h – Installing: /usr/local/include/kdl/utilities/traits.h – Installing: /usr/local/include/kdl/utilities/utility.h – Installing: /usr/local/include/kdl/utilities/utility_io.h – Installing: /usr/local/include/kdl/utilities/ldl_solver_eigen.hpp – Installing: /usr/local/include/kdl/utilities/scoped_ptr.hpp – Installing: /usr/local/include/kdl/utilities/svd_HH.hpp – Installing: /usr/local/include/kdl/utilities/svd_eigen_HH.hpp – Installing: /usr/local/include/kdl/utilities/svd_eigen_Macie.hpp