Added log and laser_filter to launch

launch/scan_with_filter.launch.py

@@ -36,14 +36,24 @@ def generate_launch_description():
  description='Full path to the Sicks300 parameter file to use'
  )
 
+ declare_log_level_arg = DeclareLaunchArgument(
+ name='log-level',
+ default_value='info',
+ description='Logging level (info, debug, ...)'
+ )
+
  # Prepare the sicks300_2 node.
  sicks300_2_node = LifecycleNode(
  package = 'sicks300_2',
  namespace = '',
  executable = 'sicks300_2',
  name = 'laser_front',
  parameters = [sicks300_param_file],
- emulate_tty = True
+ emulate_tty = True,
+ output='screen', 
+ arguments=[
+ '--ros-args', 
+ '--log-level', ['laser_front:=', LaunchConfiguration('log-level')]]
  )
 
  # Prepare the filter node.
@@ -53,7 +63,28 @@ def generate_launch_description():
  executable = 'scan_filter',
  name = 'scan_filter',
  parameters = [sicks300_param_file],
- emulate_tty = True
+ emulate_tty = True,
+ output='screen',
+ remappings=[
+ ('/scan_filtered', '/scan/filtered')],
+ arguments=[
+ '--ros-args', 
+ '--log-level', ['scan_filter:=', LaunchConfiguration('log-level')]]
+ )
+
+ laser_filter_node = Node(
+ package = 'laser_filters',
+ namespace = '',
+ executable = 'scan_to_scan_filter_chain',
+ name = 'scan_filter',
+ parameters = [sicks300_param_file],
+ emulate_tty = True,
+ output='screen',
+ remappings=[
+ ('/scan_filtered', '/scan/filtered')],
+ arguments=[
+ '--ros-args', 
+ '--log-level', ['scan_filter:=', LaunchConfiguration('log-level')]]
  )
 
  # When the sick node reaches the 'inactive' state, make it take the 'activate' transition.
@@ -91,6 +122,7 @@ def generate_launch_description():
 
  return LaunchDescription([
  sicks300_param_file_launch_arg,
+ declare_log_level_arg,
  register_event_handler_for_sick_reaches_inactive_state,
  register_event_handler_for_sick_reaches_active_state,
  sicks300_2_node,

params/default.yaml

@@ -20,4 +20,14 @@ laser_front:
 scan_filter:
  ros__parameters:
  lower_angle: -2.05
- upper_angle: 2.22
+ upper_angle: 2.22
+
+# Filter the laserscan behind the robot using laser_filters
+#scan_filter:
+# ros__parameters:
+# filter1:
+# name: inside
+# type: laser_filters/LaserScanAngularBoundsFilter
+# params:
+# lower_angle: -2.05
+# upper_angle: 2.22