• Laser scanners sometimes return unreliable readings; thus it may be necessary to filter them.
• Example:

• 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