Use GitHub Actions to build Debian package of the orocos_kinematics_dynamics library for both aarch64-linux-gnu and arm-linux-gnueabihf. Running the debpkg action creates a set of *.deb packages as artifacts which can be downloaded and used for installing orocos-kdl on the target system.

On the device, run the following command:

# Install orocos-kdl. This is expected to fail, if there are missing dependencies.
sudo dpkg --install liborocos-kdl-dev-v1.5.1-2022-06-19-armhf.deb
# Install the missing dependencies and complete the orocos-kdl configuration.
sudo apt-get install --fix-broken --yes

On the device, run the following command:

sudo dpkg --purge liborocos-kdl-dev