scan_filter_chain:
- name: box_filter
  type: laser_filters/LaserScanBoxFilter
  params:
    box_frame: laser #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