I can divide your problem in some subproblems as follows. First for object recogition ( ps it will not give precise pose ) but it will provide you with the bounding box around different objects in a clustered scene : https://pjreddie.com/darknet/yolo/ . ROS wrapper : https://github.com/kunle12/dn_object_detect . >From there you can start with the pose estimation. You can find some of the pose estimation libraries here : 1- http://wiki.ros.org/tabletop_objects 2- http://wiki.ros.org/cob_object_detection : this one is having also a gazebo simulation ready made ( i didn't test it yet) There are many more that i am sure they are available but either i dont remember or i am not aware of its existance. Currently i am trying to develop my own object pose estimation as i wasn't satisfied with most of the available libraries but that is a side project so it will take much time to come to life. Moveit can be used to path and motion planning of the arm http://moveit.ros.org/ . Also i urge you to follow up with some work of the teams participating in Amazon picking challenge. In here you will find list of the repos for these teams : https://github.com/amazon-picking-challenge . This paper is nice also : https://pdfs.semanticscholar.org/57cb/dae58b8718db0209885a5fb170eaddd619b9.pdf . I hope this can help you with anything. --- [Visit Topic](https://discourse.ros.org/t/ros-kinect-for-autonomous-grasp/1793/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: