Sometimes, Laserscans contain odd values that need being filtered out.

• Create a plugin package: catkin_create_pkg range_filter_plugin roscpp pluginlib sensor_msgs filters
•  Write a plugin
•  Implement a filter plugin

If you choose existing filters and the node laser_filters :

• As explained in ROS wiki, one may create a launchfile and a config file to automate the process.
• Caution: make sure that the node laser_filters reads from the right laser scan topic. The config file may rename the topics as in the following example:

  ''# in my_laser_filter.launch
  <remap from=“scan” to=“base_scan” /> ''

Interesting filters:

• LaserScanRangeFilter:

  # in my_laser_config.yaml
scan_filter_chain:
- name: range
type: LaserScanRangeFilter
params:
lower_threshold: 10
''</WRAP> * git * check the param values: ''rosparam get /laser_filter/scan_filter_chain

  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