Install liborocos-kdl1.3 by entering the following commands in the terminal:
sudo apt update sudo apt install liborocos-kdl1.3
Kinematics and Dynamics Library runtime
Orocos project to supply RealTime usable kinematics and dynamics code, it contains code for rigid body kinematics calculations and representations for kinematic structures and their inverse and forward kinematic solvers. This package contains the library itself.