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One fast solution could be to use range filter onto a topic, and angle filter onto another topic, and then go on to combine the data from the 2 topics (using ira_laser_tools, for example) onto the desired topic.
| | 2 | No.2 Revision |
One fast solution could be to use range filter onto a topic, and angle filter onto another topic, and then go on to combine the data from the 2 topics (using ira_laser_tools, for example) onto the desired topic.
Edit1: To clarify, range filter would give 360 data beyond robot radius(circumscribed), even if not centered on the robot. So , say, /scanrange has 360 degree data beyond 0.1m from the scanner. Angle filter would remove the region from behind the robot. So, /scanangle has 270 degree data (excludes the wires, motor controllers, etc.) but from 0m of the scanner. The scan merger would essentially create a union of the 2 scans, hopefully leaving you with desired data.
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