robot_self_filter

Usage

$ roslaunch robot_self_filter robot_self_filter.launch

Parameters

Some parameters defined at config/robot_self_filter.yaml

• min_sensor_dist (default: 0.2)
  • minimum sensor distance [m]
• self_see_default_padding (default: 0.1)
  • self removal filter padding [m]
• self_see_default_scale (default: 1.0)
• keep_organized (default: true)
• subsample_value (default: 0.0)
• [optional] see_link_names
  • if not set, it will set see link names which defined at URDF
• [optional] ignore_link_names
  • specify link names to ignore filtering