install_graspit.sh

install_graspit.sh

#!/bin/bash
# On ubuntu:18.04
echo "-------- I am $(whoami) --------"

HOME_DIR=$(eval echo ~$USER)

sudo apt-get update
sudo apt-get install -y \
    libsoqt4-dev \
    libcoin80-dev \
    libqt4-dev \
    libblas-dev \
    liblapack-dev \
    libqhull-dev \
    curl \
    git \
    build-essential \
    cmake \
    sudo \
    openssh-server

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros-latest.list'
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update && sudo apt install -y ros-melodic-desktop-full

sudo apt-get install -y \
     ros-melodic-urdf \
     ros-melodic-eigen-conversions \
     ros-melodic-object-recognition-msgs \
     ros-melodic-roslint \
     ros-melodic-gazebo-ros \
     ros-melodic-gazebo-ros-control \
     ros-melodic-moveit

cd /opt
git clone https://github.com/graspit-simulator/graspit.git
cd graspit && mkdir build && cd build && cmake .. && make -j2 && sudo make install
echo "export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH" >> /etc/profile
echo "export GRASPIT=$HOME_DIR/.graspit" >> /etc/profile

source /etc/profile
source /opt/ros/melodic/setup.bash

cd /opt
mkdir -p /opt/graspit_ros_ws/src && cd /opt/graspit_ros_ws/src
catkin_init_workspace .
git clone https://github.com/graspit-simulator/graspit_interface.git
git clone https://github.com/graspit-simulator/graspit_commander.git
cd .. && catkin_make

source /opt/graspit_ros_ws/devel/setup.bash

cd /opt
mkdir -p /opt/graspit_pkgs/src && cd /opt/graspit_pkgs/src
git clone https://github.com/JenniferBuehler/convenience-pkgs.git
git clone https://github.com/JenniferBuehler/urdf-tools-pkgs.git
git clone https://github.com/JenniferBuehler/graspit-pkgs.git
git clone https://github.com/JenniferBuehler/joint-control-pkgs.git
git clone https://github.com/JenniferBuehler/jaco-arm-pkgs.git
cd .. && catkin_make

source devel/setup.bash && rospack list

echo "source /opt/ros/melodic/setup.bash" >> $HOME_DIR/.bashrc
echo "export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH" >> $HOME_DIR/.bashrc
echo "export GRASPIT=/root/.graspit" >> $HOME_DIR/.bashrc
echo "source /opt/graspit_ros_ws/devel/setup.bash" >> $HOME_DIR/.bashrc
echo "source /opt/graspit_pkgs/devel/setup.bash" >> $HOME_DIR/.bashrc