Actually, I want to visualize the data from the 3D-Laser sensor of turtlebot3-burger using SLAM. For our research, we need to have an angular boundary for laser sensor to be between -pi/4 and +pi/4 rather than original 360 degree. I have created a node in turtlebot3slam.launch[1] file for laserfilters. And, I have created a test.yaml[2] file in the same location where the launch file is. While launching the turtlebot3_slam.launch there were no errors, but I could not find the desired output.

[1] turtlebot3_slam.launch

    <launch>
      <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
      <arg name="slam_methods" default="gmapping" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/>
      <arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
      <arg name="open_rviz" default="true"/>

    <!-- added by Sujeet begins -->
      <node pkg="laser_filters" type="scan_to_scan_filter_chain"
          name="laser_filter">
        <rosparam command="load" file="/home/sujeet/catkin_ws/src/turtlebot3/turtlebot3_slam/launch/test.yaml" />
        <remap from="scan" to="base_scan" />
      </node>
      <!-- added by Sujeet ends -->

      <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
        <arg name="model" value="$(arg model)" />
      </include>

      <include file="$(find turtlebot3_slam)/launch/turtlebot3_$(arg slam_methods).launch">
        <arg name="model" value="$(arg model)"/>
        <arg name="configuration_basename" value="$(arg configuration_basename)"/>
      </include>

      <group if="$(arg open_rviz)"> 
        <node pkg="rviz" type="rviz" name="rviz" required="true"
              args="-d $(find turtlebot3_slam)/rviz/turtlebot3_$(arg slam_methods).rviz"/>
      </group>
    </launch>

[2] test.yaml

    scan_filter_chain:
    - name: angle
      type: LaserScanAngularBoundsFilter
      params:
        lower_angle: -0.78
        upper_angle: +0.78

rqt_graph: