Tutorial for python binding using boost-python.
http://robotpkg.openrobots.org/debian.html
sudo apt-get install autoconf g++ cmake doxygen libboost-dev liburdfdom-dev libassimp-dev libeigen3-dev robotpkg-qpoases+doc ros-kinetic-xacro ros-kinetic-kdl-parser ros-kinetic-common-msgs ros-kinetic-tf ros-kinetic-tf-conversions libccd-dev ros-kinetic-octomap ros-kinetic-resource-retriever ros-kinetic-srdfdom ros-kinetic-pr2-description ros-kinetic-romeo-description flex bison asciidoc source-highlight git libomniorb4-dev omniorb-nameserver omniidl omniidl-python libltdl-dev python-matplotlib libxml2-dev libtinyxml2-dev liblog4cxx10-dev libltdl-dev qt4-dev-tools libqt4-opengl-dev libqtgui4 libqtwebkit-dev oxygen-icon-theme libopenscenegraph-dev openscenegraph libpcre3-dev
export PATH=/opt/openrobots/bin:$PATH export PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH export LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH export PYTHONPATH=/opt/openrobots/lib/python2.7/site-packages:$PYTHONPATH