Failed to build python_orocos_kdl

[alemiu]

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I want to use tf_conversion in a venv but it returns me the error ModuleNotFoundError: No module named 'PyKDL':

from tf_conversions import transformations

File "/opt/ros/noetic/lib/python3/dist-packages/tf_conversions/__init__.py", line 30, in <module>
    from .posemath import *
  File "/opt/ros/noetic/lib/python3/dist-packages/tf_conversions/posemath.py", line 34, in <module>
    from PyKDL import *
ModuleNotFoundError: No module named 'PyKDL'

Then I have followed your instructions to install orocos_kdl and python_orocos_kdl but when doing the catkin make (or catkin build) I get this error:

=> make -j4 -l4 in '/home/alemiu/DLO_ws/build_isolated/python_orocos_kdl'
Scanning dependencies of target PyKDL
[ 16%] Building CXX object CMakeFiles/PyKDL.dir/PyKDL/PyKDL.cpp.o
[ 33%] Building CXX object CMakeFiles/PyKDL.dir/PyKDL/frames.cpp.o
[ 66%] Building CXX object CMakeFiles/PyKDL.dir/PyKDL/framevel.cpp.o
[ 66%] Building CXX object CMakeFiles/PyKDL.dir/PyKDL/kinfam.cpp.o
/home/alemiu/DLO_ws/src/orocos_kinematics_dynamics/python_orocos_kdl/PyKDL/frames.cpp: In function ‘void init_frames(pybind11::module&)’:
/home/alemiu/DLO_ws/src/orocos_kinematics_dynamics/python_orocos_kdl/PyKDL/frames.cpp:80:29: error: could not convert ‘pybind11::detail::self’ from ‘const pybind11::detail::self_t’ to ‘pybind11::handle’
   80 |     vector.def(py::hash(py::self));
      |                         ~~~~^~~~
      |                             |
      |                             const pybind11::detail::self_t
/home/alemiu/DLO_ws/src/orocos_kinematics_dynamics/python_orocos_kdl/PyKDL/frames.cpp:167:29: error: could not convert ‘pybind11::detail::self’ from ‘const pybind11::detail::self_t’ to ‘pybind11::handle’
  167 |     wrench.def(py::hash(py::self));
      |                         ~~~~^~~~
      |                             |
      |                             const pybind11::detail::self_t
/home/alemiu/DLO_ws/src/orocos_kinematics_dynamics/python_orocos_kdl/PyKDL/frames.cpp:242:28: error: could not convert ‘pybind11::detail::self’ from ‘const pybind11::detail::self_t’ to ‘pybind11::handle’
  242 |     twist.def(py::hash(py::self));
      |                        ~~~~^~~~
      |                            |
      |                            const pybind11::detail::self_t
/home/alemiu/DLO_ws/src/orocos_kinematics_dynamics/python_orocos_kdl/PyKDL/framevel.cpp: In function ‘void init_framevel(pybind11::module&)’:
/home/alemiu/DLO_ws/src/orocos_kinematics_dynamics/python_orocos_kdl/PyKDL/framevel.cpp:65:33: error: could not convert ‘pybind11::detail::self’ from ‘const pybind11::detail::self_t’ to ‘pybind11::handle’
   65 |     double_vel.def(py::hash(py::self));
      |                             ~~~~^~~~
      |                                 |
      |                                 const pybind11::detail::self_t
/home/alemiu/DLO_ws/src/orocos_kinematics_dynamics/python_orocos_kdl/PyKDL/frames.cpp:375:31: error: could not convert ‘pybind11::detail::self’ from ‘const pybind11::detail::self_t’ to ‘pybind11::handle’
  375 |     rotation.def(py::hash(py::self));
      |                           ~~~~^~~~
      |                               |
      |                               const pybind11::detail::self_t
/home/alemiu/DLO_ws/src/orocos_kinematics_dynamics/python_orocos_kdl/PyKDL/framevel.cpp:135:33: error: could not convert ‘pybind11::detail::self’ from ‘const pybind11::detail::self_t’ to ‘pybind11::handle’
  135 |     vector_vel.def(py::hash(py::self));
      |                             ~~~~^~~~
      |                                 |
      |                                 const pybind11::detail::self_t
/home/alemiu/DLO_ws/src/orocos_kinematics_dynamics/python_orocos_kdl/PyKDL/frames.cpp:457:28: error: could not convert ‘pybind11::detail::self’ from ‘const pybind11::detail::self_t’ to ‘pybind11::handle’
  457 |     frame.def(py::hash(py::self));
      |                        ~~~~^~~~
      |                            |
      |                            const pybind11::detail::self_t
/home/alemiu/DLO_ws/src/orocos_kinematics_dynamics/python_orocos_kdl/PyKDL/framevel.cpp:221:32: error: could not convert ‘pybind11::detail::self’ from ‘const pybind11::detail::self_t’ to ‘pybind11::handle’
  221 |     twist_vel.def(py::hash(py::self));
      |                            ~~~~^~~~
      |                                |
      |                                const pybind11::detail::self_t
/home/alemiu/DLO_ws/src/orocos_kinematics_dynamics/python_orocos_kdl/PyKDL/framevel.cpp:310:35: error: could not convert ‘pybind11::detail::self’ from ‘const pybind11::detail::self_t’ to ‘pybind11::handle’
  310 |     rotation_vel.def(py::hash(py::self));
      |                               ~~~~^~~~
      |                                   |
      |                                   const pybind11::detail::self_t
/home/alemiu/DLO_ws/src/orocos_kinematics_dynamics/python_orocos_kdl/PyKDL/framevel.cpp:384:32: error: could not convert ‘pybind11::detail::self’ from ‘const pybind11::detail::self_t’ to ‘pybind11::handle’
  384 |     frame_vel.def(py::hash(py::self));
      |                            ~~~~^~~~
      |                                |
      |                                const pybind11::detail::self_t
[ 83%] Building CXX object CMakeFiles/PyKDL.dir/PyKDL/dynamics.cpp.o
make[2]: *** [CMakeFiles/PyKDL.dir/build.make:76: CMakeFiles/PyKDL.dir/PyKDL/frames.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/PyKDL.dir/build.make:102: CMakeFiles/PyKDL.dir/PyKDL/framevel.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:276: CMakeFiles/PyKDL.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
<== Failed to process package 'python_orocos_kdl': 
  Command '['/home/alemiu/DLO_ws/devel_isolated/orocos_kdl/env.sh', 'make', '-j4', '-l4']' returned non-zero exit status 2.

Reproduce this error by running:
==> cd /home/alemiu/DLO_ws/build_isolated/python_orocos_kdl && /home/alemiu/DLO_ws/devel_isolated/orocos_kdl/env.sh make -j4 -l4

Command failed, exiting.

And I do not managed to find any other solution on the net. Can someone help me?