filter_laser_scan_max_range

filter_laser_scan_max_range, it filters the LaserScan message to replace scans having max_range value with (max_range - eps)

Motivation

This filters helps the costmap2D to clear obstacles. During the clearing scans to which are assigned the maximum value of the range are not correctly cleared (see http://ros-users.122217.n3.nabble.com/Clearing-old-obstacles-from-costmap-td1920291.html). The filter substitutes the maximum range value with a slightly lower one.

Requirements

• ROS
• ros-hydro-navigation or ros-indigo-navigation
• ros-hydro-laser-filters or ros-indigo-laser-filters
• ros-filters
• C++11 compiler

Installation

Clone the package into you catkin workspace

• cd [workspace]/src
• git clone https://github.com/palmieri/filter_laser_scan_max_range.git
• cd ../
• catkin_make or catkin build

Usage

• For a tutorial on how to use a laser filter please refer to http://wiki.ros.org/laser_filters

Developers

Any contribution to the software is welcome. Contact the current developers for any info:

• Luigi Palmieri (https://github.com/palmieri, palmieri(at)informatik.uni-freiburg.de)