lidar-filtering

Filter LaserScan data in ROS 2 by applying a configurable chain of laser_filters plugins that remove unwanted readings like chassis self-hits and noisy reflections. This improves perception reliability and costmap accuracy for navigation tasks.

Available lidar scan filters include angular bounds, range, box, shadows, speckle, and intensity filters. These are exposed as modular plugins loaded in sequence to suppress noisy reflections and discard false obstacles.

Yes, you can configure multiple laser filters to run in a deterministic sequence using a YAML chain configuration. Ordering cheap filters before expensive ones preserves real-time performance during scan processing.

Yes, laser_filters supports both indoor and outdoor lidar processing scenarios. It handles chassis removal, range restriction, shadow suppression, and speckle filtering across diverse environments to improve obstacle avoidance.

Integrate filtered LaserScan data by implementing a YAML chain configuration and adding it to your ROS 2 launch system. This enables real-time scan processing to enhance downstream costmap generation and perception tasks.