= Tabletop Object Perception = == Overview == This page describes the sensor data processing tools that allow complete usage of the object manipulation functionality contained in [[object_manipulation]] and [[pr2_object_manipulation]]. However, it is not a development goal in itself. Other (better) implementations of sensor processing for manipulation are under active development. This framework is meant to allow using the manipulation functionality until other alternatives mature. == Documentation == The main relevant packages are: * [[tabletop_object_detector]]: provides object segmentation and recognition services, for constrained scenes. * [[tabletop_collision_map_processing]]: adds the output of the object detector to the collision environment, provides detected objects with collision names, oversees the process of taking static collision maps, etc. == Running the Manipulation Pipeline == To launch the manipulation pipeline, complete with the sensor processing provided here, and execute pickup and place tasks using the PR2 robot, tutorials and launch files are provided in [[pr2_tabletop_manipulation_apps]]. == Report a Bug == <>