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The problem was the setting in tabletop_segmentation.launch

... <arg name="tabletop_segmentation_points_in" default="/camera/depth_registered/points"/> <arg name="tabletop_segmentation_convert_to_base_link" **default="false" **=""/> ...

This decouples tabletop segmentation from PR2 coordinate system

Thanks to Matei for pointing it out to me offline!

The problem was the setting in tabletop_segmentation.launch

...
<arg name="tabletop_segmentation_points_in" default="/camera/depth_registered/points"/>
default="/camera/depth_registered/points" />
<arg name="tabletop_segmentation_convert_to_base_link" **default="false" **=""/>
...
**default="false"** />
...