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.