Adding an object to the robot as a part of itself(s body) [closed]

edit

Using: PR2 with ROS Groovy

As described in here ( http://wiki.ros.org/pr2_navigation_pe... ) there is a possibility to filter out some objects from the Tiltscanner by adding some information to the '.yaml'. As we want the PR2 to deliver a package being hold in one of his grippes (fixed), we need this being filtered out of his scan so that the pr2_navigation_slam doesn't recognizes the package as an obstacle (which makes it try to move around with no success).

How can we edit the .yaml file so that the cubicformed package is a "part of the robot body"?

config/tilt_self_filter.yaml: The configuration for the pr2_navigation_self_filter that removes parts of the robot body from laser scans coming from the tilt laser of the PR2.