Navigation though doors using point cloud data [closed]

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Im new in creating and writing own nodes so would like to ask for a bit help. I successfully installed and compiled the following packages: amcl_listener, pow_analyzer , cereal_port, lse_xsens_mti, gps_umd and scan_tools. I would like to create my own node that can navigate my robot through some doors in the space using point cloud datas. As a senory system I m using a Laser range Finder (A Hokuyo UTM-30LX/LN) , RGB Camera (A Point Grey Dragonfly2 Firewire) and Internal Measurement Unit (IMU- A Xsens MTi inertial measurement unit). Would like to use the point could dates from the scan_tools package to write my own node that enable a navigation through doors using those point cloud dates. So I want to estimate it from the point cloud data from the laser range sensor. So need to find some way to interpate the door frames and make my own package/node. Because I have the label of the environment from the map and that already exist. Only have to add nodes that door node. Any help please????