lidar-filtering

What problem does it solve?

Filters the LaserScan data from lidar sensors to remove chassis clutter, reduce noise, and improve perception reliability for navigation.

Core Features & Use Cases

• Filter types: angular bounds, angular bounds in place, range, box, shadows, speckle, and intensity filters exposed as plugins loaded in sequence.
• Use Case: Enhance costmap and obstacle avoidance by discarding self-hits and noisy reflections while preserving true obstacles.
• Performance: Chain-based filtering preserves real-time performance by ordering cheap filters before expensive ones.

Quick Start

Implement a YAML chain configuration and integrate with your ROS 2 launch to filter scans in real time.