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ros-perception / laser_filters

Assorted filters designed to operate on 2D planar laser scanners, which use the sensor_msgs/LaserScan type.
BSD 3-Clause "New" or "Revised" License
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Dev angular interval filter #107

Open ulassbin opened 3 years ago

ulassbin commented 3 years ago

Implemented laser angular interval filter and added yaml description in test/test_scan_filter_chain.yaml.

Angular interval filter takes a parameter interval sets in the form of: interval_sets: "[[0,0.5],[2,3.2],[5,6.5]]"

which will crop the laser scan between the ranges 0 to 0.5 2 to 3.2 5 to 6.5

Also this parameter can be changed from dynamic parameter server. It is disabled by default. Can be enabled via dynamic parameter server.