I've previously used
https://github.com/mikeferguson/simple_grasping at a number of places -- it does the basic "segment a table and the objects that are on it, and generates grasps for MoveIt. I imagine that I will port it to ROS2 at some point, but there are a number of dependencies not yet ported (actions, MoveIt, and I think some PCL related stuff).
-Fergs
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