Simple_grasping package-moveit

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Hello all I am trying to perform pick and place on pr2 robot in moveit using perception pipeline. Inorder to grasp an object I chose the simple_grasping package found in Mike Ferguson's github. The link to the github repository is

https://github.com/mikeferguson/simpl...

Currently I am working with Ubuntu 16.04 with ROS kinetic installed.

I have found tutorials to implement this package for fetch robot. But I have a doubt whether it works with the other robots as well. If someone worked with this package please help me.