robot_self_filter example

robot_self_filter.launch

<launch>
  <arg name="INPUT" default="/camera/depth/points" />
  <arg name="SELF_FILTER_PARAM" default="robot_self_filter.yaml" />

  <node pkg="robot_self_filter"
        type="self_filter" clear_params="true"
        name="self_filter" respawn="true" output="screen">
      <remap from="cloud_in" to="$(arg INPUT)" />
      <remap from="cloud_out" to="~output" />
      <rosparam command="load" file="$(arg SELF_FILTER_PARAM)" />
      <param name="use_rgb" value="true" />
      <param name="keep_organized" value="true"/>
      <param name="subsample_value" type="double" value="0.0"/>
      </node>
</launch>

robot_self_filter.yaml

min_sensor_dist: .2
self_see_default_padding: .01
self_see_default_scale: 1.0
self_see_links:
  - name: BODY
  - name: LARM_LINK0
  - name: LARM_LINK1
  - name: LARM_LINK2