https://blog.csdn.net/seeseeatre/article/details/79191737
LaserScanBoxFilter 无视一个区块内的数据（常用于无视机器人本体对激光雷达数据的干扰）
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scan_filter_chain:
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- name: box_filter
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type: laser_filters/LaserScanBoxFilter
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params:
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box_frame: base_scan
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min_x: -0.2
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max_x: 0.2
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min_y: -0.2
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max_y: 0.2
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min_z: -1.0
- max_z: 1.0
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scan_filter_chain:
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- name: range
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type: LaserScanRangeFilter
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params:
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use_message_range_limits: false
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lower_threshold: 0.5
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upper_threshold: .inf
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#lower_replacement_value: -.inf
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lower_replacement_value: .inf
- upper_replacement_value: .inf