视频讲解：PyKDL 运动学动力学库-安装（源码编译方式）_哔哩哔哩_bilibili

https://github.com/orocos/orocos_kinematics_dynamics

pip3 install PyKDL的方式会失败

dar@dar:~/MuJoCoBin/mujoco-learning$ pip install PyKDL

Defaulting to user installation because normal site-packages is not writeable

Collecting PyKDL

Using cached PyKDL-1.4.0.tar.gz (1.5 kB)

Preparing metadata (setup.py) ... error

error: subprocess-exited-with-error

× python setup.py egg_info did not run successfully.

│ exit code: 1

╰─> [7 lines of output]

running egg_info

creating /tmp/pip-pip-egg-info-v_i1ib0_/PyKDL.egg-info

writing /tmp/pip-pip-egg-info-v_i1ib0_/PyKDL.egg-info/PKG-INFO

writing dependency_links to /tmp/pip-pip-egg-info-v_i1ib0_/PyKDL.egg-info/dependency_links.txt

writing top-level names to /tmp/pip-pip-egg-info-v_i1ib0_/PyKDL.egg-info/top_level.txt

writing manifest file '/tmp/pip-pip-egg-info-v_i1ib0_/PyKDL.egg-info/SOURCES.txt'

error: package directory 'PyKDL' does not exist

[end of output]

note: This error originates from a subprocess, and is likely not a problem with pip.

error: metadata-generation-failed

× Encountered error while generating package metadata.

╰─> See above for output.

note: This is an issue with the package mentioned above, not pip.

hint: See above for details.

使用源码编译的形式

git clone https://github.com/orocos/orocos_kinematics_dynamics.git

参考
https://github.com/orocos/orocos_kinematics_dynamics/blob/master/orocos_kdl/INSTALL.md

sudo apt-get install libeigen3-dev libcppunit-dev
cd orocos_kdl
mkdir build 
cd build 
cmake ..
make -j32
sudo make install

安装

cd python_orocos_kdl 
mkdir build 
cd build 
cmake .. 
make -j32

添加ldd路径到bashrc

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib 
sudo ldconfig 
python3 tests/PyKDLtest.py