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The package is outdated and was only supported up through Groovy. It seems the main trouble is that KDL was named differently for Groovy and prior and is now orocos_kdl.
Fortunately for you, @jbohren made a fork and updated it to Hydro and Catkin. I had to make some additional changes to get it to build in Kinetic on Ubuntu 16.04, I believe my changes should also be good for Indigo. You can try my fork here. Since you're on Indigo you need at least these dependencies:
sudo apt install ros-indigo-calibration ros-indigo-orocos-kdl
Obviously if this is kinetic, swap in kinetic for indigo. Make sure you source your workspace's devel/setup.bash before trying to run anything. Hopefully that gets you a little further. I only went as far as getting it to build and do a basic launch but didn't test any of the package functionality.
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