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How to filter ranges of a portion of a laser scan

Hi,

I am currently using a rplidar A1 360 degree laser scan.

I am trying to use the laser_filters package to filter my laser scan. Basically, I want to remove all the points behind the lidar that intersect with the robot (wires, motor controllers, etc). However, I want to keep any laser scan point behind the lidar that does not intersect with the robot.

I could use the range filter, and apply it to filter out data within the diameter of the robot, but I will lose valuable information in front of the lidar. I was wondering if there are any laser filters that combine range and angle filters in the way I described.