The following is a direct quote from from the excellent ArchWiki. I tried it in Ubuntu Maverick and it works.
Obm-xdg
obm-xdg is a command-line tool that comes with Obmenu. It can generate a categorized sub-menu of installed GTK/GNOME applications.
To use obm-xdg, add the following line to ~/.config/openbox/menu.xml:
{menu execute="obm-xdg" id="xdg-menu" label="xdg"/}
(note: the curly brackets above should actually be angled brackets, but this crazy Blogger interface makes it close to impossible to write the above with angled brackets.)
Then run openbox --reconfigure to refresh the Openbox menu. You should now see a sub-menu labeled xdg in your menu.
Note: If you do not have GNOME installed, then you need to install gnome-menus package for obm-xdg to work.
Update: This is having issues on Squeeze. More later as I (if I) figure it out.