using laser_filters to convert inf readings to max_range + 1 from hokuyo

edit

Hi all,

I have a hokuyo laser sensor and I am using hokuyo_node to get the Laser Scan. Then, I am using LaserScanRangeFilter to filter out the readings to get max_range + 1 in cases where the hokuyo_node gives inf reading. The problem is instead of getting max_range + 1, I get nan readings for all the previous inf readings after running the filter. The launch file:

<launch>
    <node pkg="hokuyo_node" type="hokuyo_node" name="Laser_node" output="screen">
        <param name="port" value="/dev/ttyACM1"/>
        <param name="angle_min" value="-1.5707963"/>
        <param name="angle_max" value="1.5707963"/>
    </node>
    <node pkg="laser_filters" type="scan_to_scan_filter_chain" name="laser_filter">
            <rosparam command="load" file="$(find starter_node)/move_base_config/hokuyo_config.yaml" /> 
        <remap from="base_scan" to="scan" />
        </node>
</launch>

hokuyo_config.yaml

scan_filter_chain:
- name: range
  type: LaserScanRangeFilter
  params:
    lower_threshold: 0.02
    upper_threshold: 10

The output of rosparam list:

/Laser_node/allow_unsafe_settings
/Laser_node/angle_max
/Laser_node/angle_min
/Laser_node/calibrate_time
/Laser_node/cluster
/Laser_node/frame_id
/Laser_node/intensity
/Laser_node/max_ang
/Laser_node/max_ang_limit
/Laser_node/max_range
/Laser_node/min_ang
/Laser_node/min_ang_limit
/Laser_node/min_range
/Laser_node/port
/Laser_node/skip
/Laser_node/time_offset
/laser_filter/scan_filter_chain
/rosdistro
/roslaunch/uris/host_namankumar_inspiron_5521__45829
/rosversion
/run_id

I am not able to figure out what is causing it. Does anyone has any idea about how to solve this issue?

Thanks in advance.
Naman Kumar