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multiple scan angle filter

How to filter out multiple segments of scan angle using laser filters package? Right now i am able to only segment out single segment of scan filter like:

scan_filter_chain:
- name: angle
  type: laser_filters/LaserScanAngularBoundsFilter
  params:
    lower_angle: -1.57
    upper_angle: 1.57

Here when i tired this param it is not working:

scan_filter_chain:
- name: angle
  type: laser_filters/LaserScanAngularBoundsFilter
  params:
    lower_angle: -1.5708
    upper_angle: -0.785398
- name: angle1
  type: laser_filters/LaserScanAngularBoundsFilter
  params:
    lower_angle: 0.785398
    upper_angle: 1.5708

Is their any way or other ros package which can do this function?

Asked by dinesh on 2021-10-18 07:07:40 UTC

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Answers

Set up a laser_filters node for angle and another for angle1, and create two filtered scans. I think this can be achieved by combining them with ira_laser_tools.

ira_laser_tools: http://wiki.ros.org/ira_laser_tools

Asked by miura on 2021-10-18 18:16:44 UTC

Comments

I got it. But in my case the source of laserscan is single and the number of angle scan is dynamic instead of static and fixed number.

Asked by dinesh on 2021-10-19 01:44:59 UTC