Contents
Nodes
laser_footprint_filter
Filters out a circular region of a specific size centered about a TF frame.Subscribed Topics
/scan (sensor_msgs/LaserScan)- Laser scan from an input sensor.
Published Topics
/scan_filtered (sensor_msgs/LaserScan)- Laser scan with scans within the footprint of the robot set to the max range + 1.0 (out of range).
Parameters
~base_frame (string, default: /base_link)- The frame to center the footprint around.
- Radius of the circle inscribing the footprint of the robot in meters.
Required tf Transforms
frame_id of the /scan topic → ~base_frame- It's necessary to be able to transform the laser scan into the base_frame prior to self-filtering.
