This is a URDF parser with KDL output which is based on ROS stack and code by Wim Meeussen. All I did, was to remove stuff related to ROS.

add_subdirectory(urdf-to-kdl) # or however you call it
include_directories(${KDL_Parser_INCLUDE_DIRS})
target_link_libraries(KDL_Parser)

Run cmake by passing -DBUILD_TEST=ON. It will create an executable which accepts a urdf as command line argument.

1. This accepts only a path to a urdf file. Loading from server is not supported
2. cmake lacks install
3. more?

1. Remove unused methods and class members
2. replace std::cout with std::cerr when needed.
3. add install to cmake