We decide if there is an object regarding to our model in front of the robot.
To do so, we first load the model (.pcd-file). Then we use some predefined filters and helper, which are programmed by Bastian Steder, to recognize the object.
If the recognition is successful, we published the recognized object and the whole scene.

For information on how to use chair_recognition, read the "How does it work" section of the chair_grasping page.