turtlebot_apps: turtlebot_actions | turtlebot_calibration | turtlebot_follower | turtlebot_navigation | turtlebot_self_filter | turtlebot_sounds | turtlebot_teleop
Package Summary
turtlebot_self_filter takes in a laser scan and filters out parts of the scan that are in the footprint.
- Author: Helen Oleynikova
- License: BSD
- Repository: turtlebot-ros-pkg
- Source: hg https://kforge.ros.org/turtlebot/turtlebot_apps
Contents
Nodes
laser_footprint_filter
Filters out a circular region of a specific size centered about a TF frame.Subscribed Topics
/scan (sensor_msgs/LaserScan)- Laser scan from an input sensor.
Published Topics
/scan_filtered (sensor_msgs/LaserScan)- Laser scan with scans within the footprint of the robot set to the max range + 1.0 (out of range).
Parameters
~base_frame (string, default: /base_link)- The frame to center the footprint around.
- Radius of the circle inscribing the footprint of the robot in meters.
Required tf Transforms
frame_id of the /scan topic → ~base_frame- It's necessary to be able to transform the laser scan into the base_frame prior to self-filtering.