Added lidar_angle_filter_config.yaml and adapted launch file

config/lidar_angle_filter_config.yaml

+n_pairs: 5
+ranges:
+  - range1
+  - range2
+  - range3
+  - range4
+  - range5
+range1:
+  min: -0.1
+  max: 0.1
+range2:
+  min: -1.1
+  max: -0.9
+range3:
+  min: 0.9
+  max: 1.1
+range4:
+  min: -2.2
+  max: -2.0
+range4:
+  min: 2.0
+  max: 2.2

launch/include/3d_nav.launch

@@ -13,7 +13,7 @@
     <arg name="use_nodelets" value="$(arg use_nodelets)"/>
     <arg name="lidar_nodelet_manager" value="lidar_nodelet_manager"/>
     <arg name="lidar_filter_node_name" value="lidar_filter"/>
-    <arg name="lidar_filter_config_file" value="$(find iri_point_cloud_angle_filter)/config/default_config.yaml"/>
+    <arg name="lidar_filter_config_file" value="$(find iri_helena_rosnav)/config/lidar_angle_filter_config.yaml"/>
     <arg name="lidar_filter_cloud_in" value="/helena/sensors/rslidar_points" />
     <arg name="lidar_detector_node_name" value="lidar_detector"/>
     <arg name="lidar_detector_config_file" value="$(find iri_lidar_obstacle_detector)/config/default_config.yaml"/>