Merge pull request #8 from avalen2022/main

Laser_filtered changed

config/footprint_filter.yaml

@@ -1,7 +1,11 @@
 scan_to_scan_filter_chain:
   ros__parameters:
     filter1:
-      name: footprint_filter
-      type: laser_filters/LaserScanFootprintFilter
+      name: box_filter
+      type: laser_filters/LaserScanRangeFilter
       params:
-        inscribed_radius: 0.325
+        use_message_range_limits: false   # if not specified defaults to false
+        lower_threshold: 0.325              # if not specified defaults to 0.0
+        upper_threshold: 20.0              # if not specified defaults to 100000.0
+        lower_replacement_value: .inf    # if not specified defaults to NaN
+        upper_replacement_value: .inf     # if not specified defaults to NaN

launch/kobuki.launch.py

@@ -153,12 +153,7 @@ def generate_launch_description():
     laser_filter_s2_cmd = Node(
         package='laser_filters',
         executable='scan_to_scan_filter_chain',
-        parameters=[
-            PathJoinSubstitution([
-                package_dir,
-                'params', 'footprint_filter.yaml',
-            ])
-        ],
+        parameters=[params_file_filter],
         condition=IfCondition(PythonExpression([lidar_s2]))
     )