diff --git a/ReadMe.md b/ReadMe.md
index badbaf594737e2876ec8fbe3fcf8f800d56daa4e..8370bcaabbfc5dfac8a9c5b7f622a00f8de6c018 100644
--- a/ReadMe.md
+++ b/ReadMe.md
@@ -15,6 +15,12 @@ IEEE/ASME Transactions on Mechatronics. To appear.
 - [Boost](http://www.boost.org/) (already installed in most Ubuntu LTS)
   
 - [Orocos - KDL](http://www.orocos.org/kdl)
+  
+  - WARN: Orocos-KDL standalone library can conflict with ROS orocos-kdl version. Tested with orocos-kdl-1.3.0. To install it follow these steps:
+    
+        - `cd ~/Downloads && wget https://github.com/orocos/orocos_kinematics_dynamics/archive/1.3.0.tar.gz && tar -xvzf 1.3.0.tar.gz && rm 1.3.0.tar.gz`
+        - `cd orocos_kinematics_dynamics-1.3.0/orocos_kdl && mkdir build && cd build`
+        - `cmake .. && make -j $(nproc) && sudo make install`
 
 - [Eigen 3](eigen.tuxfamily.org)