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The pcl_ros CropBox Filter nodelet is not at all documented, but something along these lines should do the trick:

<launch>
  <group ns="/pcl_filters">

    <!-- PCL Manager -->
    <node pkg="nodelet" type="nodelet" name="cropbox_filter_pcl_manager" args="manager" output="screen"/>

    <!-- A CropBox filter to avoid self-detection -->
    <node pkg="nodelet" type="nodelet" name="self_removal" args="load pcl/CropBox cropbox_filter_pcl_manager" output="screen">
      <remap from="~input" to="/points" />
      <remap from="~output" to="/points_cropped" />
      <rosparam>
        input_frame: base_link
        output_frame: base_link
        # true: no points in the box, false: no points outside the box
        negative: true
        min_x: -1.3
        max_x: 1.0
        min_y: -0.75
        max_y: 0.75
        min_z: -5.0
        max_z: 5.0
      </rosparam>
    </node>

  </group>
</launch>

The pcl_ros CropBox Filter nodelet is not at all documented, but something along these lines should do the trick:

<launch>
  <group ns="/pcl_filters">

    <!-- PCL Manager -->
    <node pkg="nodelet" type="nodelet" name="cropbox_filter_pcl_manager" args="manager" output="screen"/>

    <!-- A CropBox filter to avoid self-detection -->
    <node pkg="nodelet" type="nodelet" name="self_removal" args="load pcl/CropBox cropbox_filter_pcl_manager" output="screen">
      <remap from="~input" to="/points" />
      <remap from="~output" to="/points_cropped" />
      <rosparam>
        input_frame: base_link
        output_frame: base_link
        # true: no points in the box, false: no points outside the box
        negative: true
        min_x: -1.3
-1
        max_x: 1.0
1
        min_y: -0.75
-1
        max_y: 0.75
1
        min_z: -5.0
-1
        max_z: 5.0
2
      </rosparam>
    </node>

  </group>
</launch>