arm_navigation: arm_kinematics_constraint_aware | arm_navigation_msgs | collision_map | collision_space | constraint_aware_spline_smoother | geometric_shapes | joint_normalization_filters | kinematics_base | kinematics_msgs | mapping_rviz_plugin | motion_planning_rviz_plugin | move_arm | ompl_ros_interface | planning_environment | planning_models | robot_self_filter | spline_smoother | trajectory_filter_server
Package Summary
The robot self filter is a package that allows you to filter out robot body parts from sensor information using the known positions and orientations of these parts.
- Author: Ioan Sucan
- License: BSD
- Repository: wg-kforge
- Source: hg https://kforge.ros.org/armnavigation/armnavigation
Contents
Robot Self Filtering
The robot_self_filter package is a filter to remove or mark the points corresponding to robot links in sensor data. The filter is essentially a node wrapper around the self_see_filter.
API Stability
- The ROS API is stable.
- The C++ API is unstable.
Published Topics
cloud_out (sensor_msgs/PointCloud2)- A self filtered or annotated point cloud
Subscribed Topics
cloud_in (sensor_msgs/PointCloud2)- A point cloud to self filter
Parameters
~<name>/sensor_frame (string, default: "")
- The sensor frame from which to compute shadow points for filtering
- The resolution in cm to use for voxelized subsampling prior to self filtering. For dense data the self filter procedure will be too expensive on dense point cloud data. Set to 0.0 to disable.