Limit range of scanning angle

[subodh-malgonde]

I am using RPLidar A1 and I am looking for a way to limit the angular range of the laser scans. I only want to look at data which is right in front of the robot.

I noticed that this is implemented in another repo kintzhao/rplidar_ros in the branches feature/angFilterPublish and feature/fixedAngleFilter. However these branches are 8 commits behind the main repository and I am afraid if I use these branches then I will miss out on the improvements/bug fixes from the later commits.

Any idea how to go about doing this? @kintzhao

[kintzhao]

you can find the change code and rebase or cherry-pick it by git.. kintzhao/rplidar_ros code just for tutorial