I am using the Moveit package along with Octomap. Is there any way to create an interactive tool for object selection from the Octomap? This tool would allow a user to identify objects in the octomap possibly for manipulation or goal setting. I have looked through the source code for Moveit but I haven't been able to find anything. I am relatively new to ROS so I don't know if such a thing exists or how I could create this. Is there anywhere I could look or somewhere I could start?

Thank you