# This is an example filter config for a commercial robot that use Velodyne VLP-16.
cloud_filter_chain:
  # Only containment filtering
  - name: robot_body_filter_containment
    type: robot_body_filter/RobotBodyFilterPointCloud2
    params:
      debug/pcl/clip: false
      debug/pcl/inside: false
      debug/pcl/shadow: false
      sensor/min_distance: 0.05
      sensor/max_distance: 10
      # For more information of how to choose the fixed frame and configure point_by_point, see the discussion at https://github.com/peci1/robot_body_filter/pull/18#discussion_r780655811
      sensor/point_by_point: true
      frames/fixed: odom
      frames/sensor: lidar_frame
      frames/filtering: lidar_frame
      frames/output: lidar_frame
      body_model/inflation/scale: 1.0
      body_model/inflation/padding: 0.03
      body_model/robot_description_param: robot_description
      filter/do_clipping: true
      filter/do_contains_test: true
      filter/do_shadow_test: false
      only_links:
        - base_link
        - gps_link
        - imu_link
        - lidar_mount_link
        - top