@mikeferguson, regarding grasping, I've done some upstream works on "GPD". It's a state-of-the-art algorithm for grasp pose detection and very easy for using in ROS. I've enabled a ROS2 grasp library as MoveIt plug-in for this algorithm, now in alpha version, coming soon :slight_smile: The GPD has been enabled with Intel OpenVINO technology for neural network computation deployment across various devices (CPU, GPU, VPU, etc.) and maximizes performance. Linkage here: https://github.com/atenpas/gpd --- [Visit Topic](https://discourse.ros.org/t/ros2-perception-porting-status/6231/15) 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: