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Answer by myself: I should run pr2 simulator. The steps: 1. roscore 2. export ROBOT=sim 3.roslaunch pr2_gazebo pr2_empty_world.launch 4. Here you also load the object table.cup 5. modify the pr2_tabletop_manipulation.launch just

<include file="$(find household_objects_database)/launch/objects_database_remote_client.launch"/>

6. roslaunch pr2_tabletop_manipulation_launch pr2_tabletop_manipulation.launch

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