clone https://github.com/shangl/uibk_moveit_tools

install dependencies

sudo apt-get install libgsl0-dev gnuplot gnuplot-x11 libarmadillo-dev \
libboost-all-dev libncurses5-dev libarmadillo-dev liballegro5-dev \
ros-indigo-pcl-ros ros-indigo-moveit-ros-planning-interface \
python3.4-dev liblapacke-dev gtk+2.0 \
bison \
build-essential \
cmake \
doxygen \
fabric \
flex \
freeglut3-dev \
g++ \
gcc \
gfortran \
git-core \
gnuplot \
graphviz-dev \
libann-dev \
libcv-dev \
libcvaux-dev \
libdc1394-22-dev \
libf2c2-dev \
libgtest-dev \
libgtkglext1-dev \
libhighgui-dev \
liblapack-dev \
libplib-dev \
libqhull-dev \
libsdl1.2-dev \
libx11-dev \
libx11-dev \
libxi-dev \
libxmu-dev \
make \
meld \
python-nose \
python-unittest2 \
realpath \
regexxer \
swig2.0 \
tcl8.5-dev \
tk-dev \
tk8.5-dev \
libfreenect-dev \
qt5-default