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Fix: Switch lidar angular filter to LaserScanAngularBoundsFilterInPlace #658

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Fix: Switch lidar angular filter to LaserScanAngularBoundsFilterInPlace #658

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8 changes: 6 additions & 2 deletions src/hangar_sim/params/laser_filter_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -14,11 +14,15 @@
# Two filter chain instances run, one per lidar, each remapped to its own
# /scan_{front,rear} input and /scan_{front,rear}_filtered output. Nav2 consumes
# both filtered topics as independent obstacle observation sources.
#
# InPlace variant is used so angle_min/angle_max and beam count stay constant across
# messages. Filtered beams are set to range_max (the "no return" sentinel); nav2's
# inf_is_valid: false setting discards them, which is the correct behaviour.
laser_angular_filter_front:
ros__parameters:
filter1:
name: angular_bounds
type: laser_filters/LaserScanAngularBoundsFilter
type: laser_filters/LaserScanAngularBoundsFilterInPlace
params:
lower_angle: 0.7854
upper_angle: 3.9270
Expand All @@ -27,7 +31,7 @@ laser_angular_filter_rear:
ros__parameters:
filter1:
name: angular_bounds
type: laser_filters/LaserScanAngularBoundsFilter
type: laser_filters/LaserScanAngularBoundsFilterInPlace
params:
lower_angle: 0.7854
upper_angle: 3.9270
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