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Hi, William! Yes, I had idea about orocos_kdl. In source file:

#include "ros/ros.h"
#include <kdl/tree.hpp>

int main(int argc, char **argv)
{
    KDL::Tree my_tree;
    ros::NodeHandle node;
        return 0;
}

In CMakeLists.txt of my project:

find_package(catkin REQUIRED COMPONENTS
  orocos_kdl
  roscpp
  rospy
  std_msgs
)

And in log I get:

/usr/bin/ld: cannot find -lorocos-kdl

I check:

rospack list | grep orocos_kdl
orocos_kdl /opt/ros/hydro/share/orocos_kdl

And:

ls /opt/ros/hydro/lib/ | grep orocos
liborocos-kdl.so
liborocos-kdl.so.1.1
liborocos-kdl.so.1.1.99

I don't understand why this is happening...