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Maybe my answer is too late. Currently, I am working on tilted lidar as well. What I did is convert lidar laser points coord into map 3D point cloud coord. Then the point clouds include positive z points and negative z points.

Then you need to make sure the min_obstacle_height and max_obstacle_height cover your points range at the z axis. (Notice that min_obstacle_height is one of sensor parameters, it isn't in global filter parameter.)