<> <> ''ROS Software Maintainer: [[http://wiki.ros.org/ROBOTIS|ROBOTIS]]'' == ROBOTIS e-Manual == * [[http://turtlebot3.robotis.com/|ROBOTIS e-Manual for TurtleBot3]] == ROS API == {{{ #!clearsilver CS/NodeAPI node.0 { name= laser_filter desc= This package is used [[http://wiki.ros.org/laser_filters|laser_fillers]]. pub{ 0{ name= scan_filtered type= sensor_msgs/LaserScan desc= This topic is filtered scan topic from laser_filter package. } } sub{ 0{ name= scan type= sensor_msgs/LaserScan desc= Topic that confirms the scan values of the [[http://emanual.robotis.com/docs/en/platform/turtlebot3/appendix_lds_01/#overview|LiDAR]] mounted on the Turtlebot3. } } } }}} ==== Parameters ==== This package provides parameters from '''turtlebot3_follow_filter.yaml''' in '''turtlebot3_follow_filter''' directory. {{{ scan_filter_chain: - name: Remove over 0.35 meters on the right type: laser_filters/LaserScanBoxFilter params: box_frame: odom min_x: -3.5 max_x: 3.5 min_y: -3.5 max_y: -0.35 min_z: -0.1 max_z: 0.1 - name: Remove over 0.35 meters on the left type: laser_filters/LaserScanBoxFilter params: box_frame: odom min_x: -3.5 max_x: 3.5 min_y: 0.35 max_y: 3.5 min_z: -0.1 max_z: 0.1 - name: Remove 90 to 270 degree type: laser_filters/LaserScanAngularBoundsFilterInPlace params: lower_angle: 1.57 upper_angle: 4.71 - name: exist range 0.12 to 0.7 meter type: laser_filters/LaserScanRangeFilter params: lower_threshold: 0.12 upper_threshold: 0.7 - name: exist intensity 500 to 4000 type: laser_filters/LaserScanIntensityFilter params: lower_threshold: 500 upper_threshold: 4000 disp_histogram: 0 - name: interpolation type: laser_filters/InterpolationFilter }}}