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It looks like it's not documented on the laser_pipeline and laser_filters pages, but laser_filters actually contains a LaserScanAngularBoundsFilter which seems to do exactly what you are after:

This is a filter that removes points in a laser scan outside of certain angular bounds.

It shouldn't be too hard to set this up. See #q61538 for a related Q&A.

It looks like it's not documented on the laser_pipeline and laser_filters pages, but laser_filters actually contains a LaserScanAngularBoundsFilter which seems to do exactly what you are after:after (from here):

This is a filter that removes points in a laser scan outside of certain angular bounds.

It shouldn't be too hard to set this up. See #q61538 for a related Q&A.