Yes there is, we do this conversion often.

#1 install the pull out pantry shelves in the cabinet.

#2 close the pantry door and make a light pencil mark around the outside of the door (this will allow you to re-align the door onto the pantry cabinet after the next step)

#3 remove the pantry door and then remove the hinges from the door

#4 Put double faced tape (use the thicker type that is used for mounting mirrors) in two places on the top and bottom pull out shelves that you installed earlier.

#5 Carefully place the door corresponding to the pencil mark that you made in step 2, press the door against the double faced tape.

#6 slowly pull the door towards you, this will bring the two shelves that have the double face tape with the door.

#7 From the front inside of the shelves that rolled out, install 3/4" screws into the shelves and door (make sure you are putting the screw into the thick part of the door). Roll out the other pantry shelves and attach them to the door the same way.

Now you have a pull out pantry!!!