Run tabletop_collision_map_processing node

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Hi, does someone know how to run the tabletop_collision_map_processing_node from the tabletop_collision_map_processing package? I try to use the tabletop package to create collision maps and to detect objects for my own made robot, which uses a Kinect camera. The robot needs to detect objects and has to grab the object when it's near.

This is what I've tried so far:

roslaunch image_processing database.launch
roslaunch tabletop_object_detector tabletop_complete.launch
rosrun tabletop_collision_map_processing tabletop_collision_map_processing_node

When I do this, I get the following error:

[INFO] [1325000064.590086400]: waitForService: Service [/collision_map_self_occ_node/reset] has not been advertised, waiting...

However, I don't know which node advertises this service.. Do I have to advertise this myself?

image_processing is my own package, I imported the database from svn and the launch file looks like this:

<launch>
    <!-- load database connection parameters -->
    <rosparam command="load"
        file="$(find image_processing)/config/household.yaml"/> 
    <!-- start the database wrapper node -->
    <node pkg="household_objects_database" name="objects_database_node" 
    type="objects_database_node" respawn="true" output="screen"/>
</launch>

The yaml file looks like this:

household_objects_database:
  database_host: localhost
  database_port: 5432 
  database_user: willow
  database_pass: willow
  database_name: household_objects

Thanks in advance!