===== Debug the laserscan =====
  * Laser scanners sometimes return unreliable readings; thus it may be necessary to filter them.
  * Example: 

==== How to see it ?====


==== What can I do ?====
  * If returned ranges contain a lot o zeros, can we simply modify the ''range_min'' so that 0-values are discarded ? [[http://wiki.ros.org/urg_node]]
  * filtering the laserscan

Other methods: filters 
http://wiki.ros.org/laser_filters
http://wiki.ros.org/laser_filters/Tutorials
http://wiki.ros.org/laser_pipeline/Tutorials
http://wiki.ros.org/laser_pipeline/Tutorials/IntroductionToWorkingWithLaserScannerData