Graspit! Installation

Graspit! is a powerful grasp planning and analysis tool. It has been recently integrated into ROS and maintained by Willow Garage. The original developing group at Columbia University is also hosting their own version, but you need to email them to get a pointer to the source package.

Here is a detailed instruction to help you install Graspit! on Ubuntu 11.10. You don't need to install ROS or wait for a download link. The code version installed here will be the same as in ROS package, thanks to Matei Ciocarlie, the main contributor of Graspit! at Willow Garage, it is also hosted as a seperate software on Sourceforge.

# Set up the root directory to keep graspit and other downloaded packages
export ROOT_DIR=~/NewTest
export GRASPIT_DIR=$ROOT_DIR/graspit
export COIN_SOURCE_DIR=$ROOT_DIR/Coin_source
export COIN_DIR=$ROOT_DIR/Coin
export SOQT_SOURCE_DIR=$ROOT_DIR/SoQt_source
export SOQT_DIR=$ROOT_DIR/SoQt 

# Download the latest graspit source code from sourceforge, which is maintained by Matei Ciocarlie
wget --output-document=$ROOT_DIR/graspit.tar.gz https://sourceforge.net/projects/graspit/files/latest/download?source=files

# Create the directory for Graspit!
mkdir $GRASPIT_DIR 

# Unzip the package and Move graspit source to upper level
tar -xzvf $ROOT_DIR/graspit.tar.gz -C $GRASPIT_DIR && mv -f $GRASPIT_DIR/*/* $GRASPIT_DIR

# Download Coin. Graspit! is not compatible with Coin 3.x.x, so 2.4.6 is downloaded here  or you can directly install Coin 2.4.6 from debs with "sudo apt-get install libcoin40-dev"
wget --output-document=$ROOT_DIR/Coin.tar.gz http://ftp.coin3d.org/coin/src/all/Coin-2.4.6.tar.gz

# Create the folders 
mkdir $COIN_SOURCE_DIR && mkdir $COIN_DIR

# Unzip the package
tar -xzvf $ROOT_DIR/Coin.tar.gz -C $COIN_SOURCE_DIR && mv -f $COIN_SOURCE_DIR/*/* $COIN_SOURCE_DIR

# Install Coin
cd $COIN_SOURCE_DIR && ./configure --prefix=$COIN_DIR && make && make install 

# Export Environment Variable
export COINDIR=$COIN_DIR
export PATH=$PATH:$COINDIR/bin
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$COINDIR/lib

# Install Qt4
sudo apt-get install libqt4-core libqt4-dev libqt4-gui libqt4-qt3support libqt4-dbg

# Install Blas & Lapack 
sudo apt-get install libblas-dev liblapack-dev

# Download SoQt, I have problem installing SoQt1.4.1 on ubuntu 11.10, but 1.5.0 works perfectly
wget --output-document=$ROOT_DIR/SoQt.tar.gz http://ftp.coin3d.org/coin/src/all/SoQt-1.5.0.tar.gz

# Create folders
mkdir $SOQT_SOURCE_DIR && mkdir $SOQT_DIR

# Unzip the package
tar -xzvf $ROOT_DIR/SoQt.tar.gz -C $SOQT_SOURCE_DIR && mv -f $SOQT_SOURCE_DIR/*/* $SOQT_SOURCE_DIR

# Install SoQt
cd $SOQT_SOURCE_DIR && ./configure --prefix=$SOQT_DIR && make && make install

# Go to the graspit source directory and make qhull first
cd $GRASPIT_DIR/qhull && make

# Make necessary changes in graspit.pro before the next step

# Run qmake to generate makefile first and then make
cd $GRASPIT_DIR && qmake "ADDITIONAL_INCLUDE_DIR=$SOQT_DIR/include" "ADDITIONAL_LINK_FLAGS=-L$SOQT_DIR/lib -lSoQt -L$COIN_DIR/lib -lCoin" graspit.pro && make

# Define ENVIRONMENT variable
export GRASPIT=$GRASPIT_DIR
export PATH=$PATH:$GRASPIT/bin
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$SOQT_DIR/lib

-- LiZhang - 2011-12-09