I am implementing a pick and place machine. I have a UR3e robot arm and an Orbbec Astra Pro depth camera. I want to detect object on a table, then send the robot arm gripper directly above the object. I am fairly new to ROS and am looking for advice on how to implement this.

So far, I have created a Moveit package. Next, I am trying to integrate my depth data with the Moveit package. I am not 100% sure that this is the best way to do this, so any advice or direction would be appreciated!