## repository: http://robotics.ccny.cuny.edu/git/ccny-ros-pkg.git/
<<PackageHeader(laser_height_estimation)>> <<TOC(4)>>

{{attachment:laser_height_estimation_mirrors_01.png}}

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== CAD Files ==
The CAD files to build your own can be found [[http://www.thingiverse.com/thing:3949|here]] on [[http://www.thingiverse.com|thingiverse]]

== Usage ==
The package provides a height estimate using a Hokuyo laser scanner.

== Details ==
Laser scan data is split using [[laser_scan_splitter]] and the regions being reflected downward or upward are fed into the height estimation system.

== Example ==

You can run the [[laser_height_estimation]] on a pre-recorded bag file that comes with the package. First, make sure you have the [[scan_tools]] stack downloaded and installed by following the instructions [[scan_tools#Installing|here]].

Next, make sure you have the necessary tools installed:

{{{
#!shell
rosmake rviz tf rosbag
}}}

Finally, run the demo:

{{{
#!shell
roslaunch laser_height_estimation demo.launch
}}}

== Nodes ==

== References ==
This package was inspired by the work of [[http://www.slawomir.de/publications/grzonka09icra/grzonka09icra.pdf|Grzonka et al]]
[[http://groups.csail.mit.edu/rrg/papers/icra08-rh.pdf|He et al]]

== Bug Reports & Feature Requests ==
We appreciate the time and effort spent submitting bug reports.

Please use our [[http://robotics.ccny.cuny.edu/trac/|Trac]] to [[http://robotics.ccny.cuny.edu/trac/newticket?component=ccny_vision/ar_pose&type=defect|report bugs]] or [[http://robotics.ccny.cuny.edu/trac/newticket?component=ccny_vision/ar_pose&type=enhancement|request features]].

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