There's a closed pull request on the void-packages repository

orocos-kdl: update to 1.5.1.
https://github.com/void-linux/void-packages/pull/34890

Description:
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#### Testing the changes
- I tested the changes in this PR:  **briefly**
I've added a check target to run the orocos tests, which pass.

Not sure if this update is wanted, I'm just making a sweep through my out-of-date packages.
I don't have a good grasp on how to test this other than the provided test suite, it was added on request (#8965)