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