despite being available for quite a while, I wanted to officially announce our ROS Hydro/Indigo package for localizing grasps in 3D point clouds: http://wiki.ros.org/agile_grasp 

Here's a demo of Rethink's Baxter robot localizing and executing grasps in a densely cluttered scene: https://www.youtube.com/watch?v=Dm64UC3uGVY  

Instructions for using our package are available at the ROS wiki page given above.

If you find any problems, please report them at: https://github.com/atenpas/agile_grasp/issues

All the best,  

Andreas