this package detect barrel/s with 2D lidar data.
On this assumption you have an Ubuntu 16.04(Xenial) and you have installed ROS Kinetic Kame. You need a package for detecting barrels.
cd ~/wokspace/src
git clone https://github.com/SaraTohidi/barrel_detector.git
cd ..
catkin_make
Now you may need to get some dependencies.
ros-kinetic-nav-msgs
ros-kinetic-dynamic-reconfigure
ros-kinetic-OpenCV