laser_filters源码整体分析

laser_filters 也用了挺久，感觉还是蛮好用的，最近看了下源码（ laser_filters包为kinetic-devel， filters包为hydro-devel），在这里写个流水账。

laser_filters

总的来说 laser_filters包 调用了 filters包，下面来详细阅读下代码。

<launch>
<node pkg="laser_filters" type="scan_to_scan_filter_chain" output="screen" name="laser_filter">
      <rosparam command="load" file="$(find laser_filters)/examples/speckle_filter_example.yaml" />
</node>
</launch>

scan_filter_chain:
- name: speckle_filter
  type: laser_filters/LaserScanSpeckleFilter
  params:
    # Select which filter type to use.
    # 0: Range based filtering (distance between consecutive points)
    # 1: Euclidean filtering based on radius outlier search
    filter_type: 0

    # O