One of the advantages of ROS is that it has tons of packages that can be reused in our applications. In our case, what we want is to implement an object recognition and detection system. The find_object_2d package (http://wiki.ros.org/find_object_2d) implements SURF, SIFT, FAST, and BRIEF feature detectors (https://goo.gl/B8H9Zm) and descriptors for object detection. Using the GUI provided by this package, we can mark the objects we want to detect and save them for future detection. The detector node will detect the objects in camera images and publish the details of the object through a topic. Using a 3D sensor, it can estimate the depth and orientation of the object.