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 => 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