installation troubles

[aboudy]

Dear all,
I'm having serious troubles in installing openGRASP.
First of all, I don't know which documentation I have to follow.
I started with the installation procedure of https://sourceforge.net/apps/mediawiki/opengrasp/index.php?title=Download_and_install_OpenGRASP but I think that it is outdated.
Afterwards, I followed the steps of http://opengrasp.sourceforge.net/download.html , but I encountered problems during the installation of FISICAS.
In particular, I managed to install the physics engine ODE, but I couldn't compile FISICAS.
The error I got after typing make in the FISICAS folder is:

abdallah@abdallah-pc:~/Documenti/openGRASP/FISICAS$ make
-- The C compiler identification is GNU
-- The CXX compiler identification is GNU
-- Check for working C compiler: /usr/bin/gcc
-- Check for working C compiler: /usr/bin/gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Looking for XOpenDisplay in /usr/lib/libX11.so;/usr/lib/libXext.so
-- Looking for XOpenDisplay in /usr/lib/libX11.so;/usr/lib/libXext.so - found
-- Looking for gethostbyname
-- Looking for gethostbyname - found
-- Looking for connect
-- Looking for connect - found
-- Looking for remove
-- Looking for remove - found
-- Looking for shmat
-- Looking for shmat - found
-- Looking for IceConnectionNumber in ICE
-- Looking for IceConnectionNumber in ICE - found
-- Found X11: /usr/lib/libX11.so
-- Found GLEW 
-- Looking for Q_WS_X11
-- Looking for Q_WS_X11 - found
-- Looking for Q_WS_WIN
-- Looking for Q_WS_WIN - not found.
-- Looking for Q_WS_QWS
-- Looking for Q_WS_QWS - not found.
-- Looking for Q_WS_MAC
-- Looking for Q_WS_MAC - not found.
-- Found Qt-Version 4.6.2 (using /usr/bin/qmake)
-- Looking for _POSIX_TIMERS
-- Looking for _POSIX_TIMERS - found
-- QT dirs: /usr/include/qt4 OPENGL: /usr/include/qt4/QtOpenGL
-- Detected Qt/OSG GUI, making plugin
-- QTOPENGL library FOUND
-- QTOPENGL lib: /usr/lib/libQtOpenGL.so
-- Link libraries: /usr/lib/libQtGui.so/usr/lib/libQtCore.so/usr/local/lib64/libosg.so/usr/local/lib64/libosgDB.so/usr/local/lib64/libosgGA.so/usr/local/lib64/libosgText.so/usr/local/lib64/libosgViewer.so/usr/local/lib64/libosgManipulator.so/usr/local/lib64/libosgQt.so/usr/lib/libGLEW.so/usr/lib/libQtOpenGL.so
-- Configuring done
-- Generating done
-- Build files have been written to: /home/abdallah/Documenti/openGRASP/FISICAS/build
cd build && make 
make[1]: ingresso nella directory "/home/abdallah/Documenti/openGRASP/FISICAS/build"
make[2]: ingresso nella directory "/home/abdallah/Documenti/openGRASP/FISICAS/build"
make[3]: ingresso nella directory "/home/abdallah/Documenti/openGRASP/FISICAS/build"
[  7%] Generating qrc_qtosgviewer.cxx
[ 15%] Generating moc_qtosgviewer.cxx
[ 23%] Generating moc_treemodel.cxx
Scanning dependencies of target qtosgrave
make[3]: uscita dalla directory "/home/abdallah/Documenti/openGRASP/FISICAS/build"
make[3]: ingresso nella directory "/home/abdallah/Documenti/openGRASP/FISICAS/build"
[ 30%] Building CXX object src/CMakeFiles/qtosgrave.dir/objecttree.cpp.o
[ 38%] Building CXX object src/CMakeFiles/qtosgrave.dir/treemodel.cpp.o
[ 46%] Building CXX object src/CMakeFiles/qtosgrave.dir/Item.cpp.o
In file included from /home/abdallah/Documenti/openGRASP/FISICAS/src/qtosgviewer.h:13,
                 from /home/abdallah/Documenti/openGRASP/FISICAS/src/qtosg.h:352,
                 from /home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:20:
/home/abdallah/Documenti/openGRASP/FISICAS/src/osgviewerQtContext.h: In member function ‘void ViewerWidget::updateCoreFromViewer()’:
/home/abdallah/Documenti/openGRASP/FISICAS/src/osgviewerQtContext.h:912: error: ‘class OpenRAVE::KinBody::BodyState’ has no member named ‘pguidata’
In file included from /home/abdallah/Documenti/openGRASP/FISICAS/src/qtosg.h:352,
                 from /home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:20:
/home/abdallah/Documenti/openGRASP/FISICAS/src/qtosgviewer.h: At global scope:
/home/abdallah/Documenti/openGRASP/FISICAS/src/qtosgviewer.h:109: warning: ‘OpenRAVE::ViewerBase::ViewerCallbackFn’ is deprecated (declared at /usr/local/include/openrave-0.7/openrave/viewer.h:176)
/home/abdallah/Documenti/openGRASP/FISICAS/src/qtosgviewer.h:306: warning: ‘OpenRAVE::ViewerBase::ViewerCallbackFn’ is deprecated (declared at /usr/local/include/openrave-0.7/openrave/viewer.h:176)
In file included from /home/abdallah/Documenti/openGRASP/FISICAS/src/qtosg.h:352,
                 from /home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:20:
/home/abdallah/Documenti/openGRASP/FISICAS/src/qtosgviewer.h:115: error: invalid covariant return type for ‘virtual boost::shared_ptr<void> QtOSGViewer::RegisterCallback(int, const boost::function<bool(boost::shared_ptr<OpenRAVE::KinBody::Link>, OpenRAVE::geometry::RaveVector<float>, OpenRAVE::geometry::RaveVector<float>)>&)’
/usr/local/include/openrave-0.7/openrave/viewer.h:178: error:   overriding ‘virtual OpenRAVE::UserDataPtr OpenRAVE::ViewerBase::RegisterCallback(int, const boost::function<bool(boost::shared_ptr<OpenRAVE::KinBody::Link>, OpenRAVE::geometry::RaveVector<float>, OpenRAVE::geometry::RaveVector<float>)>&)’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp: In member function ‘virtual void KinBodyItem::Load()’:
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:170: error: ‘const class boost::shared_ptr<OpenRAVE::KinBody::Link::Geometry>’ has no member named ‘IsDraw’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:177: error: ‘const class boost::shared_ptr<OpenRAVE::KinBody::Link::Geometry>’ has no member named ‘GetTransform’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:192: error: ‘const class boost::shared_ptr<OpenRAVE::KinBody::Link::Geometry>’ has no member named ‘GetRenderFilename’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:198: error: ‘const class boost::shared_ptr<OpenRAVE::KinBody::Link::Geometry>’ has no member named ‘GetRenderScale’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:199: error: ‘const class boost::shared_ptr<OpenRAVE::KinBody::Link::Geometry>’ has no member named ‘GetRenderScale’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:200: error: ‘const class boost::shared_ptr<OpenRAVE::KinBody::Link::Geometry>’ has no member named ‘GetRenderScale’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:205: error: ‘const class boost::shared_ptr<OpenRAVE::KinBody::Link::Geometry>’ has no member named ‘GetRenderFilename’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:212: error: ‘const class boost::shared_ptr<OpenRAVE::KinBody::Link::Geometry>’ has no member named ‘GetDiffuseColor’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:226: error: ‘const class boost::shared_ptr<OpenRAVE::KinBody::Link::Geometry>’ has no member named ‘GetDiffuseColor’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:227: error: ‘const class boost::shared_ptr<OpenRAVE::KinBody::Link::Geometry>’ has no member named ‘GetDiffuseColor’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:228: error: ‘const class boost::shared_ptr<OpenRAVE::KinBody::Link::Geometry>’ has no member named ‘GetDiffuseColor’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:237: error: ‘const class boost::shared_ptr<OpenRAVE::KinBody::Link::Geometry>’ has no member named ‘GetAmbientColor’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:238: error: ‘const class boost::shared_ptr<OpenRAVE::KinBody::Link::Geometry>’ has no member named ‘GetAmbientColor’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:239: error: ‘const class boost::shared_ptr<OpenRAVE::KinBody::Link::Geometry>’ has no member named ‘GetAmbientColor’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:248: error: ‘const class boost::shared_ptr<OpenRAVE::KinBody::Link::Geometry>’ has no member named ‘GetTransparency’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:258: error: ‘const class boost::shared_ptr<OpenRAVE::KinBody::Link::Geometry>’ has no member named ‘GetType’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:260: warning: ‘OpenRAVE::KinBody::Link::Geometry::GeomSphere’ is deprecated (declared at /usr/local/include/openrave-0.7/openrave/kinbody.h:181)
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:264: error: ‘const class boost::shared_ptr<OpenRAVE::KinBody::Link::Geometry>’ has no member named ‘GetSphereRadius’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:272: warning: ‘OpenRAVE::KinBody::Link::Geometry::GeomBox’ is deprecated (declared at /usr/local/include/openrave-0.7/openrave/kinbody.h:180)
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:278: error: ‘const class boost::shared_ptr<OpenRAVE::KinBody::Link::Geometry>’ has no member named ‘GetBoxExtents’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:278: error: ‘const class boost::shared_ptr<OpenRAVE::KinBody::Link::Geometry>’ has no member named ‘GetBoxExtents’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:278: error: ‘const class boost::shared_ptr<OpenRAVE::KinBody::Link::Geometry>’ has no member named ‘GetBoxExtents’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:286: warning: ‘OpenRAVE::KinBody::Link::Geometry::GeomCylinder’ is deprecated (declared at /usr/local/include/openrave-0.7/openrave/kinbody.h:182)
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:291: error: ‘const class boost::shared_ptr<OpenRAVE::KinBody::Link::Geometry>’ has no member named ‘GetCylinderRadius’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:292: error: ‘const class boost::shared_ptr<OpenRAVE::KinBody::Link::Geometry>’ has no member named ‘GetCylinderHeight’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:300: warning: ‘OpenRAVE::KinBody::Link::Geometry::GeomTrimesh’ is deprecated (declared at /usr/local/include/openrave-0.7/openrave/kinbody.h:183)
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:306: error: ‘const class boost::shared_ptr<OpenRAVE::KinBody::Link::Geometry>’ has no member named ‘GetCollisionMesh’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp: In member function ‘osg::Vec3Array* KinBodyItem::generateNormals(osg::Vec3Array*)’:
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:578: error: ‘MATH_SQRT’ was not declared in this scope
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp: In member function ‘virtual bool KinBodyItem::UpdateFromIv()’:
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:640: warning: ‘virtual void OpenRAVE::KinBody::SetBodyTransformations(const std::vector<OpenRAVE::geometry::RaveTransform<double>, std::allocator<OpenRAVE::geometry::RaveTransform<double> > >&)’ is deprecated (declared at /usr/local/include/openrave-0.7/openrave/kinbody.h:1402)
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp: In member function ‘virtual bool KinBodyItem::UpdateFromModel()’:
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:667: warning: ‘virtual void OpenRAVE::KinBody::GetBodyTransformations(std::vector<OpenRAVE::geometry::RaveTransform<double>, std::allocator<OpenRAVE::geometry::RaveTransform<double> > >&) const’ is deprecated (declared at /usr/local/include/openrave-0.7/openrave/kinbody.h:1291)
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:668: error: ‘class OpenRAVE::KinBody’ has no member named ‘GetJointValues’
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp: In member function ‘virtual bool RobotItem::UpdateFromModel(const std::vector<double, std::allocator<double> >&, const std::vector<OpenRAVE::geometry::RaveTransform<double>, std::allocator<OpenRAVE::geometry::RaveTransform<double> > >&)’:
/home/abdallah/Documenti/openGRASP/FISICAS/src/Item.cpp:958: warning: ‘virtual OpenRAVE::Transform OpenRAVE::RobotBase::Manipulator::GetGraspTransform() const’ is deprecated (declared at /usr/local/include/openrave-0.7/openrave/robot.h:125)
make[3]: *** [src/CMakeFiles/qtosgrave.dir/Item.cpp.o] Errore 1
make[3]: uscita dalla directory "/home/abdallah/Documenti/openGRASP/FISICAS/build"
make[2]: *** [src/CMakeFiles/qtosgrave.dir/all] Errore 2
make[2]: uscita dalla directory "/home/abdallah/Documenti/openGRASP/FISICAS/build"
make[1]: *** [all] Errore 2
make[1]: uscita dalla directory "/home/abdallah/Documenti/openGRASP/FISICAS/build"
make: *** [all] Errore 2

I really don't know what I should do.
Perhaps someone has some advice or can suggest me a complete and updated installation procedure.
Thanks in advance, all the best.

Abdallah