ROS 激光雷达被遮挡的问题 laser_filter

https://blog.csdn.net/seeseeatre/article/details/79191737
LaserScanBoxFilter 无视一个区块内的数据（常用于无视机器人本体对激光雷达数据的干扰）

scan_filter_chain:
- name: box_filter
  type: laser_filters/LaserScanBoxFilter
  params:
    box_frame: base_scan
    min_x: -0.2
    max_x: 0.2
    min_y: -0.2
    max_y: 0.2
    min_z: -1.0
    max_z: 1.0

scan_filter_chain:
- name: range
  type: LaserScanRangeFilter
  params:
    use_message_range_limits: false
    lower_threshold: 0.5
    upper_threshold: .inf
    #lower_replacement_value: -.inf
    lower_replacement_value: .inf
    upper_replacement_value: .inf