Ugo,
You can install any stack individually. The urdf parsing is in the robot_model stack and kdl is in the geometry stack.

Both are in the boxturtle base installation which doesn't pull anything pr2 specific. See http://www.ros.org/wiki/ROS/Installation/Ubuntu

If you want a truly minimal set you can pull only the stacks up to that level. To do that I recommend trimming the boxturtle base rosinstall file at http://ros.org/rosinstalls/boxturtle_base.rosinstall to only have the following stacks

{{{
$ rosstack depends robot_model
ros
common_msgs
common
geometry
}}}

However I would recommend just pulling the boxturtle base install http://www.ros.org/wiki/ROS/Installation/Ubuntu

And if you're on Ubuntu you could also use the debian based install and just install ros-boxturtle-robot-model package.

Tully

On Tue, Mar 23, 2010 at 10:38 AM, Ugo Cupcic <ugo@shadowrobot.com> wrote:

Hi all,

Is it possible to install urdf and kdl for ros, without having to
install the whole pr2 stuff? (if yes, how can I do that ?)

Cheers,

Ugo

--
Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com
Software Engineer 251 Liverpool Road
need a Hand? London N1 1LX | +44 20 7700 2487
http://www.shadowrobot.com/hand/ @shadowrobot

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Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote@willowgarage.com
(650) 475-2827