filter_test.launch

<?xml version="1.0" encoding="UTF-8"?>
<launch>
  <arg name="robot_name" default="X2" />
  <node ns="$(arg robot_name)" pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />

  <!-- Run a passthrough filter to clean NaNs -->
  <!-- <node ns="$(arg robot_name)" pkg="nodelet" type="nodelet" name="psx" args="load pcl/PassThrough pcl_manager" output="screen"> -->
  <node ns="$(arg robot_name)" pkg="nodelet" type="nodelet" name="psx" args="load pcl/VoxelGrid pcl_manager" output="screen">
    <!-- <remap from="~input" to="merged_pc" /> -->
    <remap from="~input" to="points" />
    <remap from="~output" to="points_filtered" />
    <rosparam>
      <!-- filter_field_name: x -->
      <!-- filter_limit_min: &#45;500 -->
      <!-- filter_limit_max: 500 -->
      <!-- filter_limit_negative: False -->
      leaf_size: 0.1
    </rosparam>
  </node>

  <!-- <node ns="$(arg robot_name)" pkg="nodelet" type="nodelet" name="psy" args="load pcl/PassThrough pcl_manager" output="screen"> -->
  <!-- <node ns="$(arg robot_name)" pkg="nodelet" type="nodelet" name="psy" args="load pcl/VoxelGrid pcl_manager" output="screen"> -->
  <!--   <!&#45;&#45; <remap from="~input" to="merged_pc" /> &#45;&#45;> -->
  <!--   <remap from="~input" to="psx/output" /> -->
  <!--   <rosparam> -->
  <!--     filter_field_name: y -->
  <!--     filter_limit_min: &#45;500 -->
  <!--     filter_limit_max: 500 -->
  <!--     filter_limit_negative: False -->
  <!--     leaf_size: 0.2 -->
  <!--   </rosparam> -->
  <!-- </node> -->

  <!-- <node ns="$(arg robot_name)" pkg="nodelet" type="nodelet" name="psz" args="load pcl/PassThrough pcl_manager" output="screen"> -->
  <!-- <node ns="$(arg robot_name)" pkg="nodelet" type="nodelet" name="psz" args="load pcl/VoxelGrid pcl_manager" output="screen"> -->
  <!--   <!&#45;&#45; <remap from="~input" to="merged_pc" /> &#45;&#45;> -->
  <!--   <remap from="~input" to="psy/output" /> -->
  <!--   <remap from="~output" to="points_filtered" /> -->
  <!--   <rosparam> -->
  <!--     filter_field_name: z -->
  <!--     filter_limit_min: &#45;500 -->
  <!--     filter_limit_max: 500 -->
  <!--     filter_limit_negative: False -->
  <!--     leaf_size: 0.2 -->
  <!--   </rosparam> -->
  <!-- </node> -->
</launch>