There are several commands to start recognition using a trained model.

Starting roscore:

$ roscore

Starting the ROS driver for Kinect:

$ roslaunch openni_launch openni.launch

Setting the ROS parameters for the Kinect driver:

$ rosrun dynamic_reconfigure dynparam set /camera/driver depth_registration True
$ rosrun dynamic_reconfigure dynparam set /camera/driver image_mode 2
$ rosrun dynamic_reconfigure dynparam set /camera/driver depth_mode 2

Republishing the depth and RGB image topics using topic_tools relay:

$ rosrun topic_tools relay /camera/depth_registered/image_raw /camera/depth/image_raw
$ rosrun topic_tools relay /camera/rgb/image_rect_color /camera/rgb/image_raw

Here is the command to start recognition; we can use different pipelines to perform detection. The following command uses the tod pipeline. This will work well for textured objects.

$ rosrun object_recognition_core detection -c `rospack find object_recognition_tod`/conf/detection.ros.ork --visualize

Alternatively...