laser_lines: line detection in laser data as reference frame for ROS

This package contains two nodes. The laser_lines node takes a laser scan as input and detects lines within that data. This can be used, for example, to align in parallel to an object like furniture in the environment. The landmark_frame node uses this data to calculate and publish a reference frame with respect to a-priori known landmarks based on laser line intersection.

Requirements

The package builds on only basic ROS packages and PCL. It has been tested on ROS Fuerte (still used on the Freiburg PR2) and PCL 1.7.

Documentation

The example launch file and landmark configuration contain the parameter documentation.