Installation

Step 1. Install dependencies

For the grasping tutorials you will need packages in the following repositories, including their respective dependencies:

• graspit-pkgs
• convenience-pkgs
• jaco-arm-pkgs
• gazebo-pkgs
• moveit-pkgs

Please refer to the linked wiki pages to install all dependencies. Note: GraspIt doesn't yet support Qt5, and therefore you won't be able to use it with Ubuntu 20.04 (see comment in graspit-pkgs).

There are plans to detach the packages in this repo from GraspIt, but this has not yet been done.

Step 2. Install this repository

Add the git repository to your catkin workspace:

cd <your-catkin-ws>/src
git clone https://github.com/JenniferBuehler/grasp-execution-pkgs.git

Hint: Alternatively to cloning the repository directly into the catkin source folder, you may also clone the repository elsewhere and then create a softlink to the main folders in your catkin source directory:
ln -s <path to grasp-execution-pkgs>

To compile, you can now use catkin_make as usual:

cd ..
catkin_make