Its true that a solution is not given and we will work on it.
Once that is said, basically the topic published where all the detected tables are placed, is an array of tables, that each one has information about its pose, and therefore we can filter based on the zheight, becuase we want to use one or another table, maybe the closest one.
The frame is : frame_id: “head_camera_rgb_optical_frame”
Al the information you can get it by executing these comands and extracting the information you need:
rosmsg show object_recognition_msgs/TableArray
You can see that its an array that has poses.
And you have to susbcribe to this topic: /table_array
With that all the info you need is there. Hope it helps