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Hi, There is no tutorial for the same. But if you want to do the detection of the tabletop_objects you may look at the tutorials at http://pointclouds.org/documentation/tutorials/ and read through the below topics

a. Euclidean cluster extraction.

b. Cluster recognition and 6D pose estimation.

I used them straight forwardly for my work of detecting the tabletop_objects.

Hope this helps!

Thanks, Karthik

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