robot_body_filter
A ROS filter that removes points belonging to a robot's own body from laser scans and point clouds.
What is robot_body_filter?
robot_body_filter is a ROS-based filter that removes points corresponding to a robot's own body from laser scans and point clouds. It solves the problem of self-occlusion in robotic perception, where the robot's body appears in its sensor data, corrupting tasks like mapping, obstacle detection, and navigation. The filter uses the robot's URDF model and TF transforms to identify and filter out these points through containment and ray-tracing tests.
ROS developers and roboticists working on perception systems for mobile manipulators, autonomous vehicles, or any robot with onboard sensors that can see its own body. It is particularly useful for those using lidars, RGB-D cameras, or laser scanners in dynamic environments.
Developers choose robot_body_filter for its improved accuracy over predecessors like robot_self_filter, its support for both organized and unorganized point clouds, and its extensive configurability for different sensor modalities and robot motions. The ability to compute bounding shapes and provide detailed debugging outputs makes it a versatile tool for robust perception pipelines.
Overview
Filters the robot's body out of point clouds and laser scans.
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