This is a port of the old tabletop to the object recognition infrastructure Are deprecated: - ping_tabletop_node.cpp service to just ping the recognition system: that is not needed anymore with the new OR - tabletop_complete_node.cpp: not necessary anymore Have not been re-implemented: - ping_segment_object_in_hand.cpp Have been modified: - Shape is now copied from arm_navigation_msgs Please see http://wg-perception.github.io/tabletop for documentation.