range_filter.h

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#ifndef LASER_SCAN_RANGE_FILTER_H
#define LASER_SCAN_RANGE_FILTER_H

#include <dynamic_reconfigure/server.h>
#include <laser_filters/RangeFilterConfig.h>
#include "filters/filter_base.h"
#include "sensor_msgs/LaserScan.h"

namespace laser_filters
{

class LaserScanRangeFilter : public filters::FilterBase<sensor_msgs::LaserScan>
{
  std::shared_ptr<dynamic_reconfigure::Server<RangeFilterConfig>> dyn_server_;
  boost::recursive_mutex own_mutex_;

  RangeFilterConfig config_ = RangeFilterConfig::__getDefault__();

public:
  bool configure()
  {
    ros::NodeHandle private_nh("~" + getName());
    dyn_server_.reset(new dynamic_reconfigure::Server<RangeFilterConfig>(own_mutex_, private_nh));
    dynamic_reconfigure::Server<RangeFilterConfig>::CallbackType f;
    f = boost::bind(&LaserScanRangeFilter::reconfigureCB, this, _1, _2);
    dyn_server_->setCallback(f);

    getParam("lower_threshold", config_.lower_threshold);
    getParam("upper_threshold", config_.upper_threshold);
    getParam("use_message_range_limits", config_.use_message_range_limits);
    getParam("lower_replacement_value", config_.lower_replacement_value);
    getParam("upper_replacement_value", config_.upper_replacement_value);

    dyn_server_->updateConfig(config_);
    return true;
  }

  virtual ~LaserScanRangeFilter()
  {

  }

  bool update(const sensor_msgs::LaserScan& input_scan, sensor_msgs::LaserScan& filtered_scan)
  {
    double lower_threshold = config_.lower_threshold;
    double upper_threshold = config_.upper_threshold;

    if (config_.use_message_range_limits)
    {
      lower_threshold = input_scan.range_min;
      upper_threshold = input_scan.range_max;
    }
    filtered_scan = input_scan;
    for (unsigned int i=0;
         i < input_scan.ranges.size();
         i++) // Need to check ever reading in the current scan
    {

      if (filtered_scan.ranges[i] <= lower_threshold)
      {
        filtered_scan.ranges[i] = config_.lower_replacement_value;

      }
      else if (filtered_scan.ranges[i] >= upper_threshold)
      {
        filtered_scan.ranges[i] = config_.upper_replacement_value;
      }
    }

    return true;
  }

  void reconfigureCB(RangeFilterConfig& config, uint32_t level)
  {
    config_ = config;
  }
} ;

}

#endif // LASER_SCAN_RANGE_FILTER_H