Add scan filter

.github/workflows/tests.yaml

@@ -29,10 +29,6 @@ jobs:
       - name: Checkout
         uses: actions/checkout@v3
 
-      - name: Act + Docker fix
-        run: |
-          sudo chown runner:docker /var/run/docker.sock
-
       - name: Setup ROS2 Workspace and Clone Repositories
         run: |
           mkdir -p src

rosbot_bringup/config/laser_filter.yaml

@@ -0,0 +1,19 @@
+---
+/**/scan_to_scan_filter_chain:
+  ros__parameters:
+    filter1:
+      name: box_filter
+      type: laser_filters/LaserScanBoxFilter
+      params:
+        box_frame: base_link
+
+        max_x: 0.1
+        min_x: -0.12
+
+        max_y: 0.12
+        min_y: -0.12
+
+        max_z: 0.2
+        min_z: 0.0
+
+        invert: false # activate to remove all points outside of the box

rosbot_bringup/launch/bringup.launch.py

@@ -83,13 +83,27 @@ def generate_launch_description():
         namespace=namespace,
     )
 
+    laser_filter_config = PathJoinSubstitution([rosbot_bringup, "config", "laser_filter.yaml"])
+
+    laser_filter_node = Node(
+        package="laser_filters",
+        executable="scan_to_scan_filter_chain",
+        parameters=[laser_filter_config],
+        remappings=[
+            ("/tf", "tf"),
+            ("/tf_static", "tf_static"),
+        ],
+        namespace=namespace,
+    )
+
     actions = [
         declare_namespace_arg,
         declare_mecanum_arg,
         declare_use_sim_arg,
         SetParameter(name="use_sim_time", value=use_sim),
         controller_launch,
         robot_localization_node,
+        laser_filter_node,
     ]
 
     return LaunchDescription(actions)

rosbot_bringup/package.xml

@@ -16,6 +16,7 @@
 
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
+  <exec_depend>laser_filters</exec_depend>
   <exec_depend>rosbot_controller</exec_depend>
   <exec_depend>robot_localization</exec_depend>
   <exec_depend>micro_ros_agent</exec_depend>