I am working through the tutorials on pr2tabletopmanipulation. I completed Tutorial 1, which brought up a robot simulator and manipulation pipeline.

However, when I attempted Tutorial 2, the executables would hang while waiting for a service. The pipeline hangs when waiting for /registerplanningscene, and the code provided in Tutorial 2, when compiled and run, hangs while waiting for /tabletopcollisionmapprocessing/tabletopcollisionmapprocessing . I can't determine the cause of these two hangs.

Because I have insufficient Karma, I could not post the link to the two tutorials, but they are easily found by googling "pr2tabletopmanipulation_apps".