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I believe that ORK is the replacement (it also includes a tabletop detector). At least that is what we are using. The messages/datatypes might be different, but the information is still there.

I believe that ORK is the replacement (it also includes a tabletop detector). At least that is what we are using. The messages/datatypes might be different, but the information is still there.

This should be the relevant tutorials. At the end you get an ObjectRecognitionResult, which is basically a list of RecognizedObject. If you explicitly want the table information a separate message /table_array is also published (only when using TableTopDetection).