This package contains the code for two ROS Nodes (https://www.ros.org/). These nodes are used to process lidar sensor data in an atempt to find and locate stairs.

The nodes are as follows:

1. lidar_listener - Takes the raw sensor data and rotates, filters then segments each point cloud message into planar line segments.
2. stair_param_extractor - takes the messages from the lidar_listener node and looks for lines matching the gemoetry of staris

The nodes make some assumptions:-

1. There is a lidar publishing on the 'cloud' or 'mock_cloud' ros topic
2. The lidar produces a data array with 810 items (270 degrees * 3 measurements per degree)