Most of the components and functionalities of pr2_object_manipulation is now spread across other packages.

As for the perception part, detecting/segmenting tables, getting the clusters can be found in the Object Recognition Kitchen, and to complement it a not (yet) official package is the following which contains the object point cloud clustering & bounding box generation.
https://github.com/pal-robotics/object_recognition_clusters

Similar functionality for grasp planning can be found here:
https://github.com/davetcoleman/moveit_simple_grasps

The way I see it now, is that a pr2_object_manipulation metapackage should contain a pr2_moveit_config (config files for moveit), pr2_object_recognition (config files for ORK), and a package that wraps all this up in a state machine like we did with the REEM (https://github.com/pal-robotics/reem_tabletop_grasping) while the rest can be taken from the repository packages mentioned above.

Cheers,
Bence

2014-07-25 20:47 GMT+02:00 Dan Lazewatsky <lazewatd@engr.orst.edu>:

I believe the intention was for the functionality of pr2_object_manipulation to be re-implemented with moveit, but it seems that never happened. I would love to see pr2_object_manipulation brought up to hydro whether or not it is backed by moveit.

-Dan

On Fri, Jul 25, 2014 at 1:38 PM, Devon Ash <noobaca2@gmail.com> wrote:

Hi developers,

Is pr2_moveit originally developed from pr2_object_manipulation?

I'm curious if there are those out there who want pr2_object_manipulation into hydro, or if pr2_moveit replaces that functionality.

Side note: about the pr2-users being down, we're getting it back up asap, my knowledge of linux fell short when setting up the Mailman server.

-Dash.

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