I'm not experienced with PCL but to detect planes (for object recognition) I've used in the past: http://wiki.ros.org/tabletop_object_detector But I don't know if it will give you straight away the normals. I don't remember what it returns, even tho you can see the planes in Rviz.
The problem is I can't install pcl for ROS. I hva eproperly install pcl 1.7 on ubuntu but it seems there is no pcl install on my ROS kinetic.
I made a ros kinetic full install and pcl is not there. How can I add it to my ros kinetic?
@xavier_BUHOT I see you've gotten some pointers here. However going forward I'd like to request that you follow [our guidelines](http://wiki.ros.org/Support) and ask questions on http://answers.ros.org . ROS Discourse is for news and general interest discussions.