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In the Turtlebot applications, there is a node called turtlebot_laser that filters out all points within the radius of your base. This is how Willow solved it for the Turtlebot. The only pointer I can give is directly to the code as the wiki is not updated.

In the Turtlebot applications, there is a node called turtlebot_laser that filters out all points within the radius of your base. This is how Willow solved it for the Turtlebot. The only pointer I can give is directly to the code as the wiki is not updated.

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