Marcus, > But the suggestion of Ruben seems promising, especially because that package > has a different name. So, hopefully my code gets forced to take the new > stuff in orocos_kdl, instead of using old things from the kdl package. > We will try that out and will report about the results. When you add a new kdl package with a different name, just make sure that your own package does not depend on the ros kdl package. So make sure your package does not depend on any other ros package that directly or indirectly depends on the ros kdl package. Depending on both kdl packages would cause the include flags of both kdl packages to get propagated to your package, resulting in lots of trouble ;-) Wim -- -- Wim Meeussen Willow Garage Inc.