GraspIt! Installation - Ubuntu Linux with ROS¶
GraspIt! can be integrated into a ros workspace via the graspit-ros package:
cd ros_ws/src git clone https://github.com/graspit-simulator/graspit-ros --recursive cd .. catkin_make
This packages pulls in GraspIt! as a git-submodule. You can then write your own code which will be both its own ros package and a GraspIt! plugin to allow interaction with GraspIt!. For examples of how to write a plugin look at the GraspIt! Plugins page from this user manual.
For an example of a plugin exposing GraspIt! functionality via ROS services and action servers: