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IIRC, this usually means that either tabletop detection didn't find the table top, or no objects on the table (there should be more messages in the log to tell you that). The best thing to do is to visualize the point cloud you give to tabletop detection and see whether the table plane is clearly visible and also the biggest plane in the point cloud.

I had this problem a lot when I used a simulated Kinect, and it turned out that there is a bug on integrated Intel chipsets simulating the Kinect output, so the point cloud was all wrong, and the table couldn't be detected.