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.
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