LaserScanRangeFilter not working.

[kjitender469]

My launch file is:

My rplidar_range_filter_config.yaml is :

scan_filter_chain:

• name: range_filter type: laser_filters/LaserScanRangeFilter params: use_message_range_limits: false
  lower_threshold: 0.5
  upper_threshold: 1.0
  lower_replacement_value: -.inf
  upper_replacement_value: .inf

[JohnTGZ]

Hi there, could you highlight the problems you are facing and provide some data?

[fantalukas]

I was facing the same issue (LaserScanRangeFilter was not working). But I managed to fix this issue (problem was in the naming of the node). I will describe my scenario and a solution here. Maybe it could help you as well.

Expected behavior: Ranges of scan data are filtered as requested in YAML file.

Current behavior: Ranges of scan data are not filtered.

Scenario: I used example case of range filter (current commit: https://github.com/ros-perception/laser_filters/commit/cf27b3654f5e998d21aa6aeb72e37c8663ce422b launch file: https://github.com/ros-perception/laser_filters/blob/ros2/examples/range_filter_example.launch.py, yaml file: https://github.com/ros-perception/laser_filters/blob/ros2/examples/range_filter_example.yaml) and slightly modify that example.

More specifically, I slightly modified only launch file range_filter_example.launch.py as follows (the only change is adding name of node compare to example):

Comparing my and example versions: MY modified version of example is NOT working. More specifically, update and configure methods are not called in LaserScanRangeFilter class (tested by logging). So the ranges of scan data are not filtered. EXAMPLE version is working. Ranges of scan data are filtered as requested in yaml file.

Solution: The only difference is that I added the name of the node to the launch file (name parameter). After removing the name of node. It is working.

So the problem is in naming of the node.