Made the built of the arm kinematics library conditional on the existence of the KDL library.

Set a variable with the path to the darwin firmware.

src/CMakeLists.txt

+SET(DARWIN_FW_PATH /home/shernand/humanoids/darwin_stm32_fw)
+
 ADD_SUBDIRECTORY(xml)
 IF(HAVE_XSD)
   ADD_DEFINITIONS(-D_HAVE_XSD)
@@ -7,7 +9,7 @@ ENDIF(HAVE_XSD)
 INCLUDE (${PROJECT_SOURCE_DIR}/FindPkgConfig.cmake)
 
 ## Find KDL
-SET(KDL_INSTALL /opt/ros/hydro)
+SET(KDL_INSTALL /opt/ros/indigo)
 INCLUDE (${PROJECT_SOURCE_DIR}/FindKDL.cmake)
 
 # driver source files
@@ -15,10 +17,12 @@ SET(robot_sources darwin_robot.cpp darwin_robot_exceptions.cpp)
 # application header files
 SET(robot_headers darwin_robot.h darwin_robot_exceptions.h)
 
-# driver source files
-SET(kin_sources darwin_arm_kinematics.cpp darwin_robot_exceptions.cpp)
-# application header files
-SET(kin_headers darwin_arm_kinematics.h darwin_robot_exceptions.h)
+IF(KDL_FOUND)
+  # driver source files
+  SET(kin_sources darwin_arm_kinematics.cpp darwin_robot_exceptions.cpp)
+  # application header files
+  SET(kin_headers darwin_arm_kinematics.h darwin_robot_exceptions.h)
+ENDIF(KDL_FOUND)
 
 # locate the necessary dependencies
 FIND_PACKAGE(iriutils REQUIRED)
@@ -27,7 +31,7 @@ FIND_PACKAGE(dynamixel REQUIRED)
 INCLUDE_DIRECTORIES(.)
 INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIR})
 INCLUDE_DIRECTORIES(${dynamixel_INCLUDE_DIR})
-INCLUDE_DIRECTORIES(../../../stm32_firmware/include/)
+INCLUDE_DIRECTORIES(${DARWIN_FW_PATH}/include)
 # create the shared library
 ADD_LIBRARY(darwin_robot SHARED ${robot_sources} ${XSD_SOURCES})
 ADD_DEPENDENCIES(darwin_robot xsd_files_gen)
@@ -36,21 +40,29 @@ TARGET_LINK_LIBRARIES(darwin_robot ${iriutils_LIBRARY})
 TARGET_LINK_LIBRARIES(darwin_robot ${dynamixel_LIBRARY})
 TARGET_LINK_LIBRARIES(darwin_robot ${XSD_LIBRARY})
 
-ADD_LIBRARY(darwin_arm_kinematics SHARED ${kin_sources} ${XSD_SOURCES})
-ADD_DEPENDENCIES(darwin_arm_kinematics xsd_files_gen)
-# link necessary libraries
-TARGET_LINK_LIBRARIES(darwin_arm_kinematics ${iriutils_LIBRARY})
-TARGET_LINK_LIBRARIES(darwin_arm_kinematics ${XSD_LIBRARY})
-TARGET_LINK_LIBRARIES(darwin_arm_kinematics ${KDL_LIBS})
+IF(KDL_FOUND)
+  ADD_LIBRARY(darwin_arm_kinematics SHARED ${kin_sources} ${XSD_SOURCES})
+  ADD_DEPENDENCIES(darwin_arm_kinematics xsd_files_gen)
+  # link necessary libraries
+  TARGET_LINK_LIBRARIES(darwin_arm_kinematics ${iriutils_LIBRARY})
+  TARGET_LINK_LIBRARIES(darwin_arm_kinematics ${XSD_LIBRARY})
+  TARGET_LINK_LIBRARIES(darwin_arm_kinematics ${KDL_LIBS})
+ENDIF(KDL_FOUND)
 
-SET_SOURCE_FILES_PROPERTIES(${XSD_SOURCES} PROPERTIES GENERATED 1)
 SET_SOURCE_FILES_PROPERTIES(${XSD_SOURCES} PROPERTIES GENERATED 1)
 
-INSTALL(TARGETS darwin_robot darwin_arm_kinematics
+INSTALL(TARGETS darwin_robot 
         RUNTIME DESTINATION bin
         LIBRARY DESTINATION lib/iridrivers
         ARCHIVE DESTINATION lib/iridrivers)
-INSTALL(FILES ${robot_headers} ${kin_headers} DESTINATION include/iridrivers)
+INSTALL(FILES ${robot_headers} DESTINATION include/iridrivers)
+IF(KDL_FOUND)
+  INSTALL(FILES ${kin_heders} DESTINATION include/iridrivers)
+  INSTALL(TARGETS darwin_arm_kinematics
+          RUNTIME DESTINATION bin
+          LIBRARY DESTINATION lib/iridrivers
+          ARCHIVE DESTINATION lib/iridrivers)
+ENDIF(KDL_FOUND)
 INSTALL(FILES ../Finddarwin_robot.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
 INSTALL(FILES ../Finddarwin_arm_kinematics.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
 ADD_SUBDIRECTORY(examples)