[SOLVED] Creating a Graspit! Makefile from Qt Project file

Luminosity · 09-09-2014, 07:18 AM

Hi,
I am trying to install a robotic grasping software (Graspit!)in Linux, which needs some Qt relevant libraries to compile. Having installed all the required libraries, I am unable to understand how to make a make file from Qt project file. The instruction manual quotes:

"Build QHull. Go to the $GRASPIT/qhull directory and type make.
Create the GraspIt! Makefile from the Qt project file. Edit $GRASPIT/graspit.pro to suit your system and installation needs. Then type qmake graspit.pro.Build and go. From $GRASPIT/ type make."

Any help in creating a makefile would be appreciated. I am using Ubuntu precise and havqe Qt 4.8.1 installed. Thanks!

knudfl · 09-10-2014, 02:59 AM

*) Like the text says :

$ cd Graspit/qhull/ && make && sudo make install && exit
$ cd /usr/local/include/
$ sudo ln -s libqhullcpp/* ./
$ sudo ln -s libqhull/*.h ./
EDIT : See post #4.

*) About "type qmake graspit.pro" :
$ cd Graspit/ && qmake graspit.pro && make

You will of course first have to install the prerequisites, like :
$ sudo apt-get install qt4-qmake libqt4-dev libsoqt4-dev liblapack-dev libatlas-dev

Using graspit :
$ cd /usr/lib/
$ sudo cp /usr/local/lib/libqhull.so.6.3.1 ./
$ sudo ln -s libqhull.so.6.3.1 libqhull.so && exit
$ cd Graspit/bin/ && ./graspit

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Luminosity · 09-23-2014, 01:26 AM

Thank you knudfl for your help. I followed the commands and got the installation done. Could you please tell me what the following commands do ?

$ sudo ln -s libqhullcpp/* ./
$ sudo ln -s libqhull/*.h ./

I would also like to add a few lines for other users trying to install graspit in Ubuntu. Changing the environment variable GRASPIT to my root directory in .bashrc file or the terminal did not help me (I don't know why), I had to edit the /etc/environment file to add it there. Up and running!

knudfl · 09-23-2014, 05:15 AM

← Ref. post #3 .

"./" : A period ( . ) means the current directory.
I will usually show . as ./ (for the "Unix/Linux" beginner) :
Ending a command with ``<space><period>´´ can be misunderstood.
May look like a common period, that ends a sentence.

Install instructions, spefically for Ubuntu 12.04 :
http://www.cs.columbia.edu/~cmatei/g...ual_2.html#id1
( Graspit may not compile in later Ubuntu versions.) ( 14.04 ).
An error in the above instructions : libcoin** should be ommitted :
libcoin60 is available in Ubuntu 10.04, 12.04, 13.04 only. Current is libcoin80.
And : libcoin**-dev will be installed automatically as a dependency for :

sudo apt-get install libqt4-dev libqt4-opengl-dev libqt4-sql-psql \
libsoqt4-dev libblas-dev liblapack-dev libqhull-dev

As you can see : qhull ( libqhull-dev etc.) is installed,
so no reason to build or install the qhull/ in Graspit .

Installing Graspit, and setting the 'Environment variable GRASPIT' :
$ cd Graspit/bin/ && cp graspit graspit-bin
$ sudo cp graspit-bin /usr/local/bin/
$ cd /usr/local/bin/
$ sudo gedit graspit
.... And enter like : export GRASPIT=/home/name/Graspit/ , etc.
Save, and make executable :
Then you can start Graspit with : $ graspit
An example "graspit start script" is attached as graspit.sh.txt
.. Rename, and $ sudo chmod +x
An example "Icon" is also attached: Graspit.desktop, as Graspit.desktop.txt
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knudfl · 09-23-2014, 05:37 AM

← #3 .

Quote:

Changing the environment variable GRASPIT to my root directory in .bashrc

You are not supposed to run graspit as root. Root is for administrative tasks only !
And please never do any changes in /root/ . Never required.

Luminosity · 09-25-2014, 07:08 AM

Quote:

Originally Posted by knudfl

← #3 .

You are not supposed to run graspit as root. Root is for administrative tasks only !
And please never do any changes in /root/ . Never required.

Sorry, I meant to mention "the root directory of Graspit (or the folder where Graspit is extracted)"

graspit · 11-15-2014, 10:25 AM

Quote:

Originally Posted by knudfl

*) Like the text says :

$ cd Graspit/qhull/ && make && sudo make install && exit
$ cd /usr/local/include/
$ sudo ln -s libqhullcpp/* ./
$ sudo ln -s libqhull/*.h ./
EDIT : See post #4.

*) About "type qmake graspit.pro" :
$ cd Graspit/ && qmake graspit.pro && make

You will of course first have to install the prerequisites, like :
$ sudo apt-get install qt4-qmake libqt4-dev libsoqt4-dev liblapack-dev libatlas-dev

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I am also inclined to install GraspIt! and glad that I got some help here. I followed your steps until there but trying to "make" fails (the prerequisites are installed of course):

Quote:

g++ -c -m64 -pipe -O2 -Wall -W -D_REENTRANT -DGRASPIT_EXPORTS -DGRASPIT_RELEASE -DGRASPIT_COLLISION -DPLY_READER -DQT_NO_DEBUG -DQT_QT3SUPPORT_LIB -DQT3_SUPPORT -DQT_GUI_LIB -DQT_CORE_LIB -DQT_SHARED -I/usr/share/qt4/mkspecs/linux-g++-64 -I. -I/usr/include/qt4/QtCore -I/usr/include/qt4/QtGui -I/usr/include/qt4/Qt3Support -I/usr/include/qt4 -I/usr/include/qhull -I/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 -Iply -Isrc/optimizer -I.moc -Iui -o .obj/ivmgr.o src/ivmgr.cpp
src/ivmgr.cpp: In member function ‘void IVmgr::transRot(DraggerInfo*)’:
src/ivmgr.cpp:655:10: warning: variable ‘temp’ set but not used [-Wunused-but-set-variable]
SbVec3f temp = dInfo->lastTran;
^
src/ivmgr.cpp: In member function ‘void IVmgr::saveImage(QString)’:
src/ivmgr.cpp:1547:62: error: no matching function for call to ‘SoOffscreenRenderer::getWriteFiletypeInfo(int&, SbList<SbName>&, SbString&, SbString&)’
myRenderer ->getWriteFiletypeInfo(i,extList,fullname,desc);
^
src/ivmgr.cpp:1547:62: note: candidate is:
In file included from src/ivmgr.cpp:45:0:
/usr/include/Inventor/SoOffscreenRenderer.h:94:8: note: void SoOffscreenRenderer::getWriteFiletypeInfo(int, SbPList&, SbString&, SbString&)
void getWriteFiletypeInfo(const int idx,
^
/usr/include/Inventor/SoOffscreenRenderer.h:94:8: note: no known conversion for argument 2 from ‘SbList<SbName>’ to ‘SbPList&’
make: *** [.obj/ivmgr.o] Error 1

And the /bin folder remains empty (of course). What is the problem here? Thanks in advance!

EDIT: I am using ubuntu 14.04

knudfl · 11-15-2014, 07:17 PM

Post #7, @graspit : Welcome to LQ.

Sorry, but you cannot build or run the "year 2012 graspit-2.2"
in Ubuntu 14.04 . Too many incompatible libraries, etc.

There is a package for Ubuntu 12.04 - 64bits (x86_64 / amd64),
but it will not run in Ubuntu 14.04 - 64.
Only Ubuntu 12.04 - 64bits can be used.

`graspit_2.2-3ubuntu12_amd64.deb' download link :
https://drive.google.com/file/d/0B7S...ew?usp=sharing

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graspit · 11-16-2014, 05:23 PM

Ok, I'll see. Anyway, thanks a lot ;-)

pjaneck · 03-12-2015, 11:01 AM

You can use this patch: https://gist.github.com/potpath/03a96d3321e719fbae1c