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You can check the laser_filters package from there:

https://github.com/ros-perception/laser_filters/tree/kinetic-devel
ros.org/wiki/laser_filters

Assorted filters designed to operate on 2D planar laser scanners, which use the sensor_msgs/LaserScan type.

There is an old branch for Kinetic. Worth a try.

The Wiki has a lot of examples too. Especially 4.5 LaserScanRangeFilter seems suitable for your case.

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