$ sudo apt-get update
$ sudo apt-get install libkdl-parser-dev 

libkdl-parser-dev is installed in your system.

Make ensure the libkdl-parser-dev package were installed using the commands given below,

$ sudo dpkg-query -l | grep libkdl-parser-dev *

You will get with libkdl-parser-dev package name, version, architecture and description in a table

libkdl-parser-dev package basic information: