Laser Static Map Mask/Subtraction Filter

Subtract a static map (OccupancyGridMap) from a laser scan or point cloud. This can be used for example to remove obstacles from a point cloud or 2D lidar scan. The map serves as a masking layer for the point cloud.

This package is intended to be used for example in conjunction with obstacle_detector.

If you only got a sensor_msgs::LaserScan, you can use the scans_merger node in the obstacle_detector package to get a sensor_msgs::PointCloud msg, which is required as an input to this package.

Installation

cd catkin_ws/src
git clone https://github.com/jk-ethz/laser_static_map_filter
vcs import --recursive --input laser_static_map_filter.repos
catkin build

Usage

rosrun laser_static_map_filter laser_static_map_filter.py

An example launch file is provided as well

roslaunch laser_static_map_filter laser_static_map_filter.launch