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Related update, ORK using TOD and tabletop kind of works, I wrote a post with all the steps I followed to get some detections with them: https://groups.google.com/d/msg/object-recognition-kitchen/ijpfJdG9q8E/FPG4HtRBr4AJ

Using ubuntu 12.04, ROS Hydro, last ORK from sources, 32b and 64b tested.

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