self_filter.launch

<launch>  

   <include file="$(find 3dnav_pr2)/launch/pr2_planning_environment.launch" />

   <node pkg="robot_self_filter" type="self_filter" respawn="true" output="screen">

     <!-- The topic for the input cloud -->
     <remap from="cloud_in" to="tilt_scan_cloud" />

     <!-- The topic for the output cloud -->
     <remap from="cloud_out" to="tilt_scan_cloud_raytest" />

     <!-- The frame of the sensor used to obtain the data to be
       filtered; This parameter is optional. If it is not specified,
       shadow points will be considered outside -->
     <param name="sensor_frame" type="string" value="laser_tilt_link" />

     <!-- Minimum distance to sensor (for point not to be considered inside) -->
     <param name="min_sensor_dist" type="double" value="0.01" />

     <!-- The padding to be added for the body parts the robot can see -->
     <param name="self_see_padd" type="double" value="0.02" />

     <!-- The scaling to be added for the body parts the robot can see -->
     <param name="self_see_scale" type="double" value="1.0" />
     
     <!-- The names of the links the sensor can see -->
     <param name="self_see_links" type="string" value="l_upper_arm_link
						       l_upper_arm_roll_link
						       l_elbow_flex_link
						       l_forearm_link
						       l_forearm_roll_link
						       l_wrist_flex_link
						       l_wrist_roll_link
						       l_gripper_l_finger_link
						       l_gripper_l_finger_tip_link
						       l_gripper_r_finger_link
						       l_gripper_r_finger_tip_link
						       l_shoulder_pan_link
						       l_shoulder_lift_link
						       r_upper_arm_link
						       r_upper_arm_roll_link
						       r_elbow_flex_link
						       r_forearm_link
						       r_forearm_roll_link
						       r_wrist_flex_link
						       r_wrist_roll_link
						       r_gripper_l_finger_link
						       r_gripper_l_finger_tip_link
						       r_gripper_r_finger_link
						       r_gripper_r_finger_tip_link
						       r_shoulder_pan_link
						       r_shoulder_lift_link
						       base_laser_link
						       base_link" />
     
   </node>
</launch>