Hi, I'm having problems using the tabletop_object_detector node. As you can see on those screenshots, though the table plan is found correctly, the segmented point cloud includes the table and the object. http://img5.imagebanana.com/img/xx8ltmur/Selection_001.png http://img5.imagebanana.com/img/ji89gls7/Selection_002.png I'm not sure what I did wrong. In the log below, I see those warnings: [ INFO] [1294654799.697276843]: cannot extend bbox to table, they are not in the same frame [ WARN] [1294654799.697396094]: Failed to extend bbox to table; using original dimensions My only clue is that lots of code in tabletop_object_detector and the depending packages seems to have "base_link" hard coded as the reference link. I'm using "fixed", so I'm publishing a fixed transform between fixed and base_link. (I tried to use: in my nodes but I get the error: [ERROR] [WallTime: 1294655504.963270] tf transform was not there!!). Anyway I don't think that it's related to my problem, as even with this error, I get the yellow rectangle for the table + the object segmented point cloud which contains the table as shown previously. Sorry if my message is not precise enough, but I'm a bit lost here and I'm not sure where to start looking. Any help greatly appreciated. Cheers, Ugo [ INFO] [1294654796.985860596]: Tabletop detection service called; waiting for a point_cloud2 on topic /camera/depth/points2 [ INFO] [1294654797.261886506]: Point cloud received; processing [ INFO] [1294654797.374996037]: Input cloud converted to fixed frame [ INFO] [1294654797.375096220]: Starting process on new cloud [ INFO] [1294654797.400421841]: Step 1 done [ INFO] [1294654797.433487674]: Step 2 done [ INFO] [1294654797.464712409]: [TableObjectDetector::input_callback] Model found with 2992 inliers: [0.090311 -0.057030 0.994279 -0.009768]. [ INFO] [1294654797.464846818]: Step 3 done [ INFO] [1294654797.465131387]: Step 4 done [ INFO] [1294654797.477030009]: Table computed [ INFO] [1294654797.508113609]: Number of object point candidates: 55342. [ INFO] [1294654798.549648017]: Number of clusters found matching the given constraints: 1. cloud_objects frame: fixed [ INFO] [1294654798.568788369]: Clusters converted [ INFO] [1294654798.595098187]: Fitting models to clusters [ INFO] [1294654799.025706263]: - fit with score 0.046118 for model id 18791 [ INFO] [1294654799.063682509]: Cloud size: 34522 [INFO] [WallTime: 1294654799.444427] finding the bounding box for a point cluster [INFO] [WallTime: 1294654799.613361] waiting for transform: base_link from fixed [INFO] [WallTime: 1294654799.617360] got transform [INFO] [WallTime: 1294654799.645909] chopped points off of dim -0, lowest val = -0.353, searchval = -0.327 [INFO] [WallTime: 1294654799.668446] chopped points off of dim -1, lowest val = -0.298, searchval = -0.274 [INFO] [WallTime: 1294654799.690813] chopped points off of dim 2, highest val = 0.308, searchval = 0.261 [ INFO] [1294654799.697276843]: cannot extend bbox to table, they are not in the same frame [ WARN] [1294654799.697396094]: Failed to extend bbox to table; using original dimensions [ INFO] [1294654799.697444127]: Adding bounding box with dimensions 0.623375 0.423401 0.260162 to collision map [ERROR] [1294654829.700053341]: Collision map was not formed in allowed time [ERROR] [1294654829.700812477]: Collision map processing error; exception: collision map: static make was not formed in allowed time -- Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com Software Engineer | 251 Liverpool Road | need a Hand? | London N1 1LX | +44 20 7700 2487 http://www.shadowrobot.com/hand/ @shadowrobot