add angular filter example

ros-perception · Sep 26, 2023 · b04f5a3 · b04f5a3 · JosefGst · Sep 26, 2023
1 parent 1ee6c25
commit b04f5a3
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diff --git a/examples/angular_filter_example.launch.py b/examples/angular_filter_example.launch.py
@@ -0,0 +1,18 @@
+from launch import LaunchDescription
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package="laser_filters",
+            executable="scan_to_scan_filter_chain",
+            parameters=[
+                PathJoinSubstitution([
+                    get_package_share_directory("laser_filters"),
+                    "examples", "angular_filter_example.yaml",
+                ])],
+        )
+    ])
diff --git a/examples/angular_filter_example.yaml b/examples/angular_filter_example.yaml
@@ -0,0 +1,8 @@
+scan_to_scan_filter_chain:
+  ros__parameters:
+    filter1:
+      name: angle
+      type: laser_filters/LaserScanAngularBoundsFilter
+      params:
+        lower_angle: -1.52
+        upper_angle: 1.52