Package ds_pr2_fridge_handle_detector makes use of torso-mounted Kinect sensor on a PR2 robot and detects the pose of the center of the handle of the refrigerator.

Usage:

Start torso kinect:

roslaunch kinect_launch openni_node_kinect_torso_c2.launch (works for Bosch's PR2 robot, please change for your configuration accordingly)

Start handle detector

roslaunch ds_pr2_fridge_handle_detector handle_detector.launch

The handles will be published on a topic: drawer_handles_detector/handle_projected_inliers/output which you can use for viewing in rviz.

The topic is fed directly to Perception3d.cpp of ias_drawer_executive and used in the fridge opening cycle.