Circular dependency between: kdl_parser, robot_state_publisher, rviz and urdf

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Straight dump of error message:

root@duan-Rev-1-0:~/catkin_ws# rosdep install --from-paths /home/duan/catkin_ws/src --ignore-src
#All required rosdeps installed successfully
root@duan-Rev-1-0:~/catkin_ws# catkin_make
Base path: /home/duan/catkin_ws
Source space: /home/duan/catkin_ws/src
Build space: /home/duan/catkin_ws/build
Devel space: /home/duan/catkin_ws/devel
Install space: /home/duan/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/duan/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/duan/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/duan/catkin_ws/devel;/opt/ros/melodic
-- This workspace overlays: /home/duan/catkin_ws/devel;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.15", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/duan/catkin_ws/build/test_results
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.15") 
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.17
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
CMake Error at /home/duan/catkin_ws/build/catkin_generated/order_packages.cmake:7 (message):
  Circular dependency in subset of packages:

  kdl_parser, robot_state_publisher, rviz, urdf
Call Stack (most recent call first):
  /opt/ros/melodic/share/catkin/cmake/catkin_workspace.cmake:42 (include)
  CMakeLists.txt:67 (catkin_workspace)


-- Configuring incomplete, errors occurred!
See also "/home/duan/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/duan/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:320: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed