Installation without ROS

You can install only the grasp_planning_graspit package using cmake. If you want to use any of the other packages, you will need with ROS and should instead use the install instructions with catkin.

Step 1. Install required system packages

Following system libraries are required:

• SoQt4 (ubuntu package libsoqt4-dev)
• Coin (ubuntu package libcoin80-dev)
• Qt4 (ubuntu package libqt4-dev)
• Blas and Lapack (ubuntu packages libblas-dev and liblapack-dev)
• QHull (ubuntu package libqhull-dev)
• Eigen3 (ubuntu package libeigen3-dev)
• currently, there are still boost development library depencendies: filesystem, system, thread, program-options

For example, if you are on Ubuntu/Debian, install them with:

sudo apt-get install \
    libsoqt4-dev \
    libcoin80-dev \
    libqt4-dev \
    libblas-dev \
    liblapack-dev \
    libqhull-dev \
    libeigen3-dev

Additionally, at the moment the libraries still depend on boost, though this may be moved to c++11 in due time. Meanwhile, install boost dependencies with:

sudo apt-get install \
    libboost-filesystem-dev \
    libboost-system-dev \
    libboost-thread-dev \
    libboost-program-options-dev

You will also need to compile graspit from source from github.com/graspit-simulator/graspit.

Install graspit by following the standard cmake procedure:

git clone https://github.com/graspit-simulator/graspit.git
cd graspit
mkdir build
cd build
cmake ..
make
make install

Step 2. Building with cmake

To compile grasp_planning_graspit with cmake:

cd <grasp_planning_graspit-dir>
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=<install-location> ..
make
make install

Do not forget to add your <install-location>/lib directory to your LD_LIBRARY_PATH, and you may also want to add <install-location>/bin to your PATH.

Step 3. Setting up GraspIt!

If you want to use the original GraspIt! simulator to inspect results as described in this tutorial, or if you want to load graspit world files, you will need to set up GraspIt! first.

Follow the instructions on this wiki page.

Step 4 [optional]. Generate doxygen documentation

To generate the doxygen documentation:

make grasp_planning_graspit_doc

you can then find the documentation in your build directory in the folder docs.

When installing the packages, the documentation will install into the SHARE destination.