[ros-users] GraspIt! installation

[Peter Brook]

Hey Manuel,

Did you check out the entire graspit_simulator stack, or just the graspit
package? You have a couple of options, depending on whether you want to use
just GraspIt!, the graspit_ros database integration, or the experimental
ros_graspit_interface integration (which provides more features, such as ROS
service calls to test grasps). If you don't need any ROS integration, edit
the Makefile.graspit and comment out the line which defines the svn patches
to use. You could also modify the manifest and remove the dependencies on
other ROS packages.

If you want the graspit_ros database integration, just edit
graspit_project.patch and remove lines 17-22 which talk about adding the
ros_graspit_interface application.

If you want all of the integration, the steps are a bit trickier because
there is a circular dependency between the graspit package and the
graspit_interface package which isn't specified in the manifest since we
can't have circular dependencies. You first need to check out the whole
graspit_simulator stack. Then make the graspit package, and don't worry
about the error. Then make the graspit_interface package (which required
that the graspit package was already mostly made). Then make the graspit
package again (just make, don't make clean) and everything should be linked
up correctly. I don't think the graspit package is released yet which is why
things like this are still a bit bumpy.

Let me know if there are more problems,

Peter

2011/4/11 Manuel Rodríguez <mrodriguez at robotnik.es>

> Thanks for reply Vincent,
>
> I searched the Inventor folder and I have only one under my /usr directory.
>
>
> After that, I have proved to remove all and install it again. I have
> installed more dependencies (libqtassistantclient-dev, libblas-dev,
> liblapack-dev ) and now, I obtain:
>
> */usr/bin/ld: cannot find -lros_graspit_interface*
> collect2: ld returned 1 exit status
> make[2]: *** [../bin/graspit] Error 1
> make[2]: se sale del directorio
> «/home/robotnik/local_packages/graspit_simulator/graspit/graspit_svn»
> make[1]: *** [bin/graspit] Error 2
> make[1]: se sale del directorio
> «/home/robotnik/local_packages/graspit_simulator/graspit»
> CMake Error at CMakeLists.txt:23 (message):
>   Build of graspit failed
>
>
>
> To install the stack, I have used the commands:
>
> svn co
> https://code.ros.org/svn/wg-ros-pkg/branches/trunk_diamondback/stacks/graspit_simulator<https://code.ros.org/svn/wg-ros-pkg/branches/trunk_diamondback/stacks/graspit_simulator/graspit/>
>
> rosdep install graspit
> rosmake graspit
>
>
> What I doing incorrectly? Or, What I not doing?
>
>
> Regards,
> Manuel
>
>
> 2011/4/8 Vincent <ahszzzc at gmail.com>
>
>> Try searching for "Inventor" in your filesystem, if you get more than one
>> under /usr, you should only keep one and remove the others.
>> See if it works for you and let me know.
>>
>> Vincent
>>
>> 2011/4/8 Manuel Rodríguez <mrodriguez at robotnik.es>
>>
>>>  Hi all,
>>>
>>> I'm trying to install GraspIt! in Ubuntu 10.10 but I'm getting an error
>>> with one step. I have followed the installation instructions from the
>>> manual<http://www.cs.columbia.edu/%7Ecmatei/graspit/html-manual/graspit-manual_2.html#id1>and I get installed "all" correctly, but when I try to do the GraspIt!
>>> installation:
>>>
>>> *qmake graspit.pro *
>>> *WARNING: /home/robotnik/Graspit/graspit-core.pro:99: Unescaped
>>> backslashes are deprecated.*
>>>
>>> After that, when I try to run make, I obtain this error:
>>>
>>> *~/Graspit$ make*
>>> g++ -c -pipe -g -Wall -W -D_REENTRANT -DGRASPIT_COLLISION
>>> -DQT_QT3SUPPORT_LIB -DQT3_SUPPORT -DQT_GUI_LIB -DQT_CORE_LIB -DQT_SHARED
>>> -I/usr/share/qt4/mkspecs/linux-g++ -I. -I/usr/include/qt4/QtCore
>>> -I/usr/include/qt4/QtGui -I/usr/include/qt4/Qt3Support -I/usr/include/qt4
>>> -I/usr/share/qt4/include -I/include -Iqhull -Isrc -Isrc/Collision -Iinclude
>>> -Iinclude/math -Iinclude/Planner -Iinclude/EGPlanner -Iui -Iui/Planner
>>> -Iui/EGPlanner -Isrc/Collision/Graspit -Iui -Iui/Planner -Iui/EGPlanner
>>> -Itinyxml -I.moc -Iui -o .obj/arch.o src/arch.cpp
>>> In file included from src/arch.cpp:38:
>>> include/ivmgr.h:38: fatal error:
>>> Inventor/Qt/viewers/SoQtExaminerViewer.h: Don't exists the file or directory
>>> compilation terminated.
>>> *make: *** [.obj/arch.o] Error 1*
>>>
>>>
>>> I have followed all instalation steps from the manual (configures, makes,
>>> make install, add variables, etc), so I'm lost.
>>>
>>>
>>>
>>> Has anyone knows what is my problem and how solve it?
>>>
>>>
>>>
>>>
>>>
>>> Thanks very much for the help,
>>> Regards
>>> _______________________________________________
>>> ros-users mailing list
>>> ros-users at code.ros.org
>>> https://code.ros.org/mailman/listinfo/ros-users
>>>
>>>
>>
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-- 
Peter Brook
Sensor Systems Lab
University of Washington
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