Creating a Sliding Menu

I need to create a sliding menu. The case is, this is not like the day to day sliding menus we find, this is bit different.

As in the above image, the menu "opener" should be at the bottom of the screen. This is always visible. You can see this "menu opener" in grey colour.

When the user touches on this grey colour bar and slides up, it should open themenu like following.

I visited SlidingMenu project and this does not contains what I am seeking for, because, the menu is invisible until you slide. But in my case, the "menu opener(grey colour bar") is always visible.

How can I do something like this?

check SlidingDrawer tutorial. you can adjust the drawer as you desire as well.