api_documentation: http://ros.org/doc/fuerte/api/door_perception/html
authors: Felix Endres
brief: Nodes related to the perception of doors
bugtracker: ''
depends:
- laser_geometry
- std_srvs
- articulation_models
- std_msgs
- actionlib
- door_perception_msgs
- sensor_msgs
- articulation_msgs
- geometry_msgs
- pcl
- tf
- pr2_controllers_msgs
- pcl_ros
depends_on:
- door_executive
description: "\n\n     This package contains nodes to map unknown doors and to detect\
  \ the door state in real time using a laser scanner.\n     Nodes:\n     1. Door\
  \ Mapper: Listens to a PoseStamped message, learns its kinematic model and computes\
  \ a frame with the following properties:\n       - Given the extremal (minimal and\
  \ maximal) angles observed the X-Axis goes along the direction\n         of the\
  \ extremum that is closer to the first observed pose. The other tools assume this\
  \ to\n         be the CLOSED door. \n         =&gt; Thus you should start mapping\
  \ of the door in closed state\n       - The Z Axis points such that the angle increases\
  \ (positively) when opening the door.\n       - The Y Axis therefore is parallel\
  \ to the door when opened 90 degrees\n\n     2. Door State:  Listens to the laser\
  \ range scanner, and looks within the area of the door for measurements that define\
  \ a line and computes the door angle.\n     3. Handle Detector: Listens to a point\
  \ cloud and looks within the area of the door for measurements that define a plane.\
  \ A line is fitted to the plane outliers and assumed to be the handle.\n     4.\
  \ Search Handle: Moves the head to look at random points in the area of the door\
  \ until the handle detector sends out the pose of the handle\n     5. Search Checkerboard:\
  \ Randomly moves the head until a the checkerboard detector publishes the checkerboard\
  \ transformation. Then tracks the checkerboard marker.\n  "
doc_job: doc-fuerte-alufr-ros-pkg
license: GPL
maintainers: ''
metapackages:
- dynamic_door_manipulation
msgs: []
package_type: package
repo_name: dynamic_door_manipulation
repo_url: ''
srvs: []
timestamp: 1356537838.122525
url: ''
vcs: svn
vcs_uri: http://alufr-ros-pkg.googlecode.com/svn/trunk/dynamic_door_manipulation
vcs_version: null
