How to filter ranges of a portion of a laser scan
Hi,
I am currently using a rplidar A1 360 degree laser scan.
I am trying to use the laser_filters package to filter my laser scan. Basically, I want to remove all the points behind the lidar that intersect with the robot (wires, motor controllers, etc). However, I want to keep any laser scan point behind the lidar that does not intersect with the robot.
I could use the range filter, and apply it to filter out data within the diameter of the robot, but I will lose valuable information in front of the lidar. I was wondering if there are any laser filters that combine range and angle filters in the way I described.
Is your lidar at the center of the robot ? @harshal answer is a possibility, another workaround is to use a
for
loop in your scan callback to remove the ranges you don't want given the index (ie. the angle).