Estimation of the grasp_Positions for the PR2 by reducing the pointcloud with the PassThrough filter.
In this package we estimate the grasp position for the robot.
Therefore we assume that there is a PointCloud which describe the recognized object.
We filter these PointCloud with a PassThrough filter.
For more informations about the PassThrough filter visit: http://pointclouds.org/documentation/tutorials/passthrough.php#passthrough
Then extract the leftest and rightest point from the filtered_cloud as grasp_points for the PR2.
Publish these two points and for visualization on rviz the whole filtered_cloud.
