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I presume you're using the demo that uses the simple_grasping package, in which case you might need to set the voxel_limit_min to a negative value (or the ground plane may be getting chopped off). See https://github.com/mikeferguson/simple_grasping/blob/master/src/object_support_segmentation.cpp#L61

If that doesn't work, I'd suggest posting more details of exactly what you are running, and some RVIZ screen shots of what the point cloud looks like.