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multiple scan angle filter

asked 2021-10-18 07:07:40 -0600

dinesh

932 ●201 ●254 ●280 http://vikatrobotics.com

How to filter out multiple segments of scan angle using laser filters package? Right now i am able to only segment out single segment of scan filter like:

scan_filter_chain:
- name: angle
  type: laser_filters/LaserScanAngularBoundsFilter
  params:
    lower_angle: -1.57
    upper_angle: 1.57

Here when i tired this param it is not working:

scan_filter_chain:
- name: angle
  type: laser_filters/LaserScanAngularBoundsFilter
  params:
    lower_angle: -1.5708
    upper_angle: -0.785398
- name: angle1
  type: laser_filters/LaserScanAngularBoundsFilter
  params:
    lower_angle: 0.785398
    upper_angle: 1.5708

Is their any way or other ros package which can do this function?

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1 Answer

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answered 2021-10-18 18:16:44 -0600

miura

1908 ●1 ●171 ●24 https://twitter.com/miura

Set up a laser_filters node for angle and another for angle1, and create two filtered scans. I think this can be achieved by combining them with ira_laser_tools.

ira_laser_tools: http://wiki.ros.org/ira_laser_tools