Merge pull request #743 from ipa-fxm/laser_range_filter

introduce laser range filter

cob_bringup/drivers/laser_scan_filter.launch

@@ -5,11 +5,17 @@
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="name"/>
 
-	<!-- scan filters-->
+	<!-- angular bounds filter-->
 	<rosparam ns="$(arg name)" command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg name).yaml"/>
 	<node ns="$(arg name)" pkg="cob_sick_s300" type="cob_scan_filter" name="scan_filter" respawn="false" output="screen">
 		<remap from="scan_in" to="scan_raw"/>
-		<remap from="scan_out" to="scan"/>
+		<remap from="scan_out" to="scan_bound_filtered"/>
+	</node>
+	<!-- filter chain -->
+	<node ns="$(arg name)" pkg="laser_filters" type="scan_to_scan_filter_chain" name="base_laser_filter">
+		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/base_laser_filter.yaml"/>
+		<remap from="scan" to="scan_bound_filtered"/>
+		<remap from="scan_filtered" to="scan"/>
 	</node>
 
 </launch>

cob_bringup/tools/docker_control.launch

@@ -7,7 +7,7 @@
 	<arg name="sim" default="false"/>
 
 	<!-- station detection -->
-	<node pkg="laser_filters" type="scan_to_scan_filter_chain" name="laser_filter">
+	<node pkg="laser_filters" type="scan_to_scan_filter_chain" name="docking_laser_filter">
 		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/docking_laser_filter.yaml"/>
 		<remap from="scan" to="/scan_unified"/>
 		<remap from="scan_filtered" to="/station_detector/scan"/>

cob_hardware_config/robots/cob4-10/config/base_laser_filter.yaml

@@ -0,0 +1,7 @@
+scan_filter_chain:
+  - name: range
+    type: LaserScanRangeFilter
+    params:
+      use_message_range_limits: false
+      upper_threshold: 10.0
+      upper_replacement_value: 10.0

cob_hardware_config/robots/cob4-11/config/base_laser_filter.yaml

@@ -0,0 +1,7 @@
+scan_filter_chain:
+  - name: range
+    type: LaserScanRangeFilter
+    params:
+      use_message_range_limits: false
+      upper_threshold: 10.0
+      upper_replacement_value: 10.0

cob_hardware_config/robots/cob4-16/config/base_laser_filter.yaml

@@ -0,0 +1,7 @@
+scan_filter_chain:
+  - name: range
+    type: LaserScanRangeFilter
+    params:
+      use_message_range_limits: false
+      upper_threshold: 10.0
+      upper_replacement_value: 10.0

cob_hardware_config/robots/cob4-5/config/base_laser_filter.yaml

@@ -0,0 +1,7 @@
+scan_filter_chain:
+  - name: range
+    type: LaserScanRangeFilter
+    params:
+      use_message_range_limits: false
+      upper_threshold: 10.0
+      upper_replacement_value: 10.0

cob_hardware_config/robots/cob4-7/config/base_laser_filter.yaml

@@ -0,0 +1,7 @@
+scan_filter_chain:
+  - name: range
+    type: LaserScanRangeFilter
+    params:
+      use_message_range_limits: false
+      upper_threshold: 10.0
+      upper_replacement_value: 10.0

cob_hardware_config/robots/cob4-8/config/base_laser_filter.yaml

@@ -0,0 +1,7 @@
+scan_filter_chain:
+  - name: range
+    type: LaserScanRangeFilter
+    params:
+      use_message_range_limits: false
+      upper_threshold: 10.0
+      upper_replacement_value: 10.0

cob_hardware_config/robots/cob4-9/config/base_laser_filter.yaml

@@ -0,0 +1,7 @@
+scan_filter_chain:
+  - name: range
+    type: LaserScanRangeFilter
+    params:
+      use_message_range_limits: false
+      upper_threshold: 10.0
+      upper_replacement_value: 10.0

cob_hardware_config/robots/raw3-1/config/base_laser_filter.yaml

@@ -0,0 +1,7 @@
+scan_filter_chain:
+  - name: range
+    type: LaserScanRangeFilter
+    params:
+      use_message_range_limits: false
+      upper_threshold: 10.0
+      upper_replacement_value: 10.0

cob_hardware_config/robots/raw3-3/config/base_laser_filter.yaml

@@ -0,0 +1,7 @@
+scan_filter_chain:
+  - name: range
+    type: LaserScanRangeFilter
+    params:
+      use_message_range_limits: false
+      upper_threshold: 10.0
+      upper_replacement_value: 10.0

cob_hardware_config/robots/raw3-5/config/base_laser_filter.yaml

@@ -0,0 +1,7 @@
+scan_filter_chain:
+  - name: range
+    type: LaserScanRangeFilter
+    params:
+      use_message_range_limits: false
+      upper_threshold: 10.0
+      upper_replacement_value: 10.0