i was able to generate the executable using cmake and make.
I am little confused on how will the output from the executable for given urdf will be used in KDL chain for e.g. something like this?

    Chain kdlChain = Chain();

Joint joint1(Joint::None);
Frame frame1 = Frame(Rotation::EulerZYX(0.0, 0.0, -M_PI / 2))*Frame(Vector(0.0, 150.0, 0.0));
kdlChain.addSegment(Segment(joint1, frame1));

what i got was

• Segment base has 1 children
  • Segment link_0 has 1 children
    • ....

there is no info about joint that i can use from the output of the executable.

if you can share how I can get joint information from urdf that would be helpful.

Thank you.

Hi, I have downloaded your repo and I try to compile it, but I run into an error.
Here is what I have done:
In the urdf-to-kdl/, I run mkdir build
cd build, cmake .. (I also have tried cmake -DBUILD_TEST=ON ..), and then make. The error is here:
/home/yuan/Desktop/urdf-to-kdl/src/kdl_parser.cpp:75:13: error: ‘KDL::Joint kdl_parser::toKdl’ redeclared as different kind of symbol
Joint toKdl(boost::shared_ptrurdf::Joint jnt)
^~~~~
/home/yuan/Desktop/urdf-to-kdl/src/kdl_parser.cpp:69:7: note: previous declaration ‘KDL::Frame kdl_parser::toKdl(urdf::Pose)’
Frame toKdl(urdf::Pose p)
^~~~~
/home/yuan/Desktop/urdf-to-kdl/src/kdl_parser.cpp:75:13: error: ‘boost’ has not been declared
Joint toKdl(boost::shared_ptrurdf::Joint jnt)
^~~~~
/home/yuan/Desktop/urdf-to-kdl/src/kdl_parser.cpp:75:42: error: expected primary-expression before ‘>’ token
Joint toKdl(boost::shared_ptrurdf::Joint jnt)
^
/home/yuan/Desktop/urdf-to-kdl/src/kdl_parser.cpp:75:44: error: ‘jnt’ was not declared in this scope
Joint toKdl(boost::shared_ptrurdf::Joint jnt)
^~~
/home/yuan/Desktop/urdf-to-kdl/src/kdl_parser.cpp:75:44: note: suggested alternative: ‘jnl’
Joint toKdl(boost::shared_ptrurdf::Joint jnt)
^~~
jnl
/home/yuan/Desktop/urdf-to-kdl/src/kdl_parser.cpp:106:24: error: ‘KDL::RigidBodyInertia kdl_parser::toKdl’ redeclared as different kind of symbol
RigidBodyInertia toKdl(boost::shared_ptrurdf::Inertial i)
^~~~~
/home/yuan/Desktop/urdf-to-kdl/src/kdl_parser.cpp:69:7: note: previous declaration ‘KDL::Frame kdl_parser::toKdl(urdf::Pose)’
Frame toKdl(urdf::Pose p)
^~~~~
/home/yuan/Desktop/urdf-to-kdl/src/kdl_parser.cpp:106:24: error: ‘boost’ has not been declared
RigidBodyInertia toKdl(boost::shared_ptrurdf::Inertial i)
^~~~~
/home/yuan/Desktop/urdf-to-kdl/src/kdl_parser.cpp:106:56: error: expected primary-expression before ‘>’ token
RigidBodyInertia toKdl(boost::shared_ptrurdf::Inertial i)
^
/home/yuan/Desktop/urdf-to-kdl/src/kdl_parser.cpp:106:58: error: ‘i’ was not declared in this scope
RigidBodyInertia toKdl(boost::shared_ptrurdf::Inertial i)
^
/home/yuan/Desktop/urdf-to-kdl/src/kdl_parser.cpp:137:24: error: ‘boost’ has not been declared
bool addChildrenToTree(boost::shared_ptr root, Tree& tree)
^~~~~
/home/yuan/Desktop/urdf-to-kdl/src/kdl_parser.cpp:137:42: error: expected primary-expression before ‘const’
bool addChildrenToTree(boost::shared_ptr root, Tree& tree)
^~~~~
/home/yuan/Desktop/urdf-to-kdl/src/kdl_parser.cpp:137:70: error: expected primary-expression before ‘&’ token
bool addChildrenToTree(boost::shared_ptr root, Tree& tree)
^
/home/yuan/Desktop/urdf-to-kdl/src/kdl_parser.cpp:137:72: error: ‘tree’ was not declared in this scope
bool addChildrenToTree(boost::shared_ptr root, Tree& tree)
^~~~
/home/yuan/Desktop/urdf-to-kdl/src/kdl_parser.cpp:137:72: note: suggested alternative: ‘free’
bool addChildrenToTree(boost::shared_ptr root, Tree& tree)
^~~~
free
/home/yuan/Desktop/urdf-to-kdl/src/kdl_parser.cpp:137:76: error: expression list treated as compound expression in initializer [-fpermissive]
bool addChildrenToTree(boost::shared_ptr root, Tree& tree)
^
/home/yuan/Desktop/urdf-to-kdl/src/kdl_parser.cpp: In function ‘bool kdl_parser::treeFromUrdfModel(const urdf::ModelInterface&, KDL::Tree&)’:
/home/yuan/Desktop/urdf-to-kdl/src/kdl_parser.cpp:214:75: error: ‘kdl_parser::addChildrenToTree’ cannot be used as a function
if (!addChildrenToTree(robot_model.getRoot()->child_links[i], tree))
^
CMakeFiles/KDL_Parser.dir/build.make:82: recipe for target 'CMakeFiles/KDL_Parser.dir/src/kdl_parser.cpp.o' failed
make[2]: *** [CMakeFiles/KDL_Parser.dir/src/kdl_parser.cpp.o] Error 1
CMakeFiles/Makefile2:95: recipe for target 'CMakeFiles/KDL_Parser.dir/all' failed
make[1]: *** [CMakeFiles/KDL_Parser.dir/all] Error 2
Makefile:103: recipe for target 'all' failed
make: *** [all] Error 2

Does this package require any additional library? Do you know how to resolve it?

Best
Yuan