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tl;dr The ResourceNotFound error is probably ignorable in this particular case.

I'm skeptical that the OP hitting a dependency not found issue is because the packages s/he tried to use depend on kdl (or the one with newer name). I scanned openni2_launch and camera_pose_calibration but no find.

$ ack-grep -A 1 -B 1 -i kdl .
$ git remote -vv
origin  git@github.com:delftrobotics/camera_pose_calibration (fetch)
origin  git@github.com:delftrobotics/camera_pose_calibration (push)
$ git log -1
commit 15fc17eeabf693dea29237e888c1a8496fba517b
Author: rmensing <r.ensing@fizyr.com>
Date:   Thu Nov 23 18:18:33 2017 +0100

    Update readme

$ cd ~/ros-drivers/openni_camera/
$ ack-grep -A 1 -B 1 -i kdl .
$ git log -1
commit 16bbbf82f48f7a72f83d2ac2286383cf006f8aca
Author: Isaac I.Y. Saito <130s@2000.jukuin.keio.ac.jp>
Date:   Sat Jan 13 18:24:20 2018 -0800

    1.11.0

This root cause might be irrelevant to the task, and it's in rospkg package. I filed a ticket (which also has a pull request opened for).