NOTE: for indigo and above users, please take a look at newer repository at

Note: this node will output an XYZ PointCloud with no RGB information. If you need to filter an XYZRGB PointCloud, look at robot_self_filter_color from the pr2_object_manipulation stack.

Robot Self Filtering

The robot_self_filter package is a filter to remove or mark the points corresponding to robot links in sensor data. The filter is essentially a node wrapper around the self_see_filter.


API Stability

  • The ROS API is stable.
  • The C++ API is unstable.


Wiki: robot_self_filter (last edited 2015-11-25 09:12:46 by Kei Okada)