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In fact, above question was addressed in the comments of the answer to this post. When installing Graspit from debs, no launch file for the ROS interface is included opposed to an install from source which provides a file graspit_simulator/trunk/graspit_interface/launch/ros_graspit_interface.launch. Alternatively the node can also be started via 'rosrun graspit graspit plugin:libros_graspit_interface' (assuming $GRASPIT_PLUGIN_DIR is set to the directory containing the library libros_graspit_interface.so).