tabletop_objects/ModelFit Service

sensor_msgs/PointCloud cloud
    Header header
        uint32 seq
        time stamp
        string frame_id
    geometry_msgs/Point32[] points
        float32 x
        float32 y
        float32 z
    sensor_msgs/ChannelFloat32[] channels
        string name
        float32[] values

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tabletop_msgs/TableTopObject object
    geometry_msgs/PoseStamped grasp_pose
        Header header
            uint32 seq
            time stamp
            string frame_id
        geometry_msgs/Pose pose
            geometry_msgs/Point position
                float64 x
                float64 y
                float64 z
            geometry_msgs/Quaternion orientation
                float64 x
                float64 y
                float64 z
                float64 w
    geometry_msgs/PoseStamped object_pose
        Header header
            uint32 seq
            time stamp
            string frame_id
        geometry_msgs/Pose pose
            geometry_msgs/Point position
                float64 x
                float64 y
                float64 z
            geometry_msgs/Quaternion orientation
                float64 x
                float64 y
                float64 z
                float64 w
    geometric_shapes_msgs/Shape object
        byte SPHERE=0
        byte BOX=1
        byte CYLINDER=2
        byte MESH=3
        byte type
        float64[] dimensions
        int32[] triangles
        geometry_msgs/Point[] vertices
            float64 x
            float64 y
            float64 z
string model_name
float32 score