Hokuyo_node Dynamically Reconfigure max_range min_range

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This feature is a bad idea for a driver. Filtering based on range does not save bandwidth or processing, so there's no real advantage here. In fact, there's a real disadvantage if you're logging the data and decide later that you really needed all readings less than 0.15m instead.

It's best to create a node that reads the laser scan, changes it, and republishes it on a different topic. You can then log /scan and generate new configurations of /scan_range_filtered when you play back bagfiles.

/scan -> /scan_range_filtered

Don't forget to use REP 117 if you change the range values. http://www.ros.org/reps/rep-0117.html