ros-perception
Extend footprint_filter for non circular robots
Hi!
The current implementation of footprint_filter is only for circular robots. It would be very useful if we extend the filter to be used by non-circular robots including a footprint in a similar format as NAV2.
what do you think about this? @jonbinney
Yes, definitely useful! I think the polygon filter does that in ROS1, and there is actually a PR by @berend-kupers to port it (and other filters) to ROS2: https://github.com/ros-perception/laser_filters/pull/189/files . Its a big PR and I haven't had time to review it - if you have some time and can do a review that would help move it along!
I see that https://github.com/ros-perception/laser_filters/pull/189 has been merged 🎉 Will it be released to humble?
Yes, I'll do a release once I get https://github.com/ros-perception/laser_filters/pull/209 and https://github.com/ros-perception/laser_filters/pull/206 merged; should be this week.