MoveIt2 and Perception Pipeline

Hi, is there any tutorial to learn how to use Perception Pipeline in MoveIt2? I am trying to perform the pick and place on an object using MoveIt2 and Perception.

Hi @Rupesh, the official MoveIt2 tutorials on perception with Octomap would be the best place to get started with learning how the perception pipeline works. We don’t have any Stretch specific tutorials on that subject, but I can answer any questions about the code: stretch_moveit2. Keep in mind that the code is written for ROS 2 Galactic.