From 7f305d64563fdbc602222ee7b608eadffd72f9ac Mon Sep 17 00:00:00 2001
From: bjoernellens1 <64093272+bjoernellens1@users.noreply.github.com>
Date: Fri, 24 Nov 2023 09:37:22 +0100
Subject: [PATCH] update: inlcude scan filter node

---
 config/box_filter.yaml             | 15 +++++++++++++++
 launch/robot_scan_filter.launch.py | 18 ++++++++++++++++++
 2 files changed, 33 insertions(+)
 create mode 100644 config/box_filter.yaml
 create mode 100644 launch/robot_scan_filter.launch.py

diff --git a/config/box_filter.yaml b/config/box_filter.yaml
new file mode 100644
index 0000000..d4c184d
--- /dev/null
+++ b/config/box_filter.yaml
@@ -0,0 +1,15 @@
+scan_to_scan_filter_chain:
+  ros__parameters:
+    filter1:
+      name: box_filter
+      type: laser_filters/LaserScanBoxFilter
+      params:
+        box_frame: laser_frame
+        max_x: 0.80 #was 0.16
+        max_y: 0.18 #was 0.17
+        max_z: 0.1
+        min_x: -0.15 #was -0.41
+        min_y: -0.18 # was -0.17
+        min_z: -0.2
+        
+        invert: false # activate to remove all points outside of the box
\ No newline at end of file
diff --git a/launch/robot_scan_filter.launch.py b/launch/robot_scan_filter.launch.py
new file mode 100644
index 0000000..41dd487
--- /dev/null
+++ b/launch/robot_scan_filter.launch.py
@@ -0,0 +1,18 @@
+from launch import LaunchDescription
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package="laser_filters",
+            executable="scan_to_scan_filter_chain",
+            parameters=[
+                PathJoinSubstitution([
+                    get_package_share_directory("cps_loki_bringup"),
+                    "config", "box_filter.yaml",
+                ])],
+        )
+    ])
\ No newline at end of file