<launch>
    <!-- Include the configuration file -->
    <param name="box_filter_config" command="$(find cps_rmp220_support)/config/box_filter.yaml" />

    <!-- Launch the laser_filters node -->
    <node pkg="laser_filters" type="scan_to_scan_filter_chain" name="scan_to_scan_filter_chain" output="screen">
        <rosparam command="load" file="$(find cps_rmp220_support)/config/box_filter.yaml" />
    </node>
</launch>
