Create a catkin workspace in which you clone this project.
In the same workspace clone the kdl library: kdl library Follow the installation instructions for the python bindings in https://github.com/orocos/orocos_kinematics_dynamics/blob/master/python_orocos_kdl/INSTALL.md
Make sure to install the dependencies: ros-noetic-libfranka, ros-noetic-franka-ros