The most tedious step is to install the cgkit. It has to be installed from the source. During the installation, some more packages or libraries are necessary. Two of them are GL/gl.h and GL/glu.h. Out of my expectation, they have to be installed from different packages.
To have GL/gl.h:
$ sudo apt-get install mesa-common-dev
To have GL/glu.h:
$ sudo apt-get install libglu1-mesa-dev