This adds the map_laser and laser_filters package to the run dependencies and launches them when the robot launch file is executed.
The parameter with_map_filter is by default true. If set to false the filter is not run.
Functionality, filter all the laser beams that correspond to obstacles in the static map. Therefore only obstacles that have not been in the environment during the creation of the map will be sent to the leg detector to reduce the number of false positives by tables and other furniture.
Closes #171
This adds the
map_laserandlaser_filterspackage to the run dependencies and launches them when the robot launch file is executed.The parameter
with_map_filteris by defaulttrue. If set tofalsethe filter is not run.Functionality, filter all the laser beams that correspond to obstacles in the static map. Therefore only obstacles that have not been in the environment during the creation of the map will be sent to the leg detector to reduce the number of false positives by tables and other furniture.
Tested on Betty.