Used a PointCloud2 instead of a scan.
Added a second point cloud to do clearing in free space. Created some functions to make the code easier to maintain. Used the angle filter configuration file to know the dark areas of the sensor.
Added a second point cloud to do clearing in free space. Created some functions to make the code easier to maintain. Used the angle filter configuration file to know the dark areas of the sensor.
merged
mentioned in commit fd553d82