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The busbot_filter takes in a sensor_msgs/LaserScan message and removes beams from the scan that are deemed problematic. It was originally designed to operate on a modified Turtlebot with Hokoyu laser to remove the beams that intersected with the frame.


The following command will launch the filter with the default config file, which will take scans on the /base_scan topic and output on the /scan topic.

   1 roslaunch busbot_filter busbot_filter.launch

2020-09-12 12:30