Hi Peshala, just on the side, my colleague has written a box filter some time ago in case you want to do some really trivial bg subtraction: http://tum-ros-pkg.svn.sourceforge.net/viewvc/tum-ros-pkg/mapping/cloud_tools/src/box_filter.cpp?revision=239&view=markup cheers, D. On Wed, Mar 31, 2010 at 9:49 PM, Tully Foote wrote: > Peshala, > > For question 1 you need to add a plugin description file.  See > http://www.ros.org/wiki/pluginlib  linked from here > http://www.ros.org/wiki/filters  You will both need to add this file and > export it in the manifest. > > To run it inside the scan_to_scan_filter_chain node you just need to add > your filter to the nodes configuration parameters.  See 3.2.2 in > http://www.ros.org/wiki/filters#Steps_to_create_a_filter  There is specific > documentation on scan_to_scan_filter_chain node at > http://www.ros.org/wiki/laser_filters > > For question 2, filters can be run in any node.  The filters::FilterChain > class is the recommended way to instantiate filters in code.  However for > your purposes the scan_to_scan_filter_chain node is likely the easiest. > > Tully > > On Wed, Mar 31, 2010 at 12:05 AM, Peshala Jayasekara > wrote: >> >> Dear Ros-Users, >> >> I am thinking of writing a background subtraction filter for my incoming >> laser data through hokoyo_node. >> >> Here are my problems. >> >> 1) After going through the examples of laser_filters, I thought I can use >> scan_to_scan_filter_chain node to run "background_subtraction_filter-which >> is the one I am writing, inside it. However, it gave an error msg saying >> >> According to the loaded plugin descriptions the class >> LaserBackgroundSubtractionFilter with base class type >> filters::FilterBase does not exist. >> >> Is there a way to run a user's filter inside scan_to_scan_filter_chain >> node? >> >> 2) On the other hand, once you write your own filter according to the >> "Implementing a simple filter" tutorial how do you run it - what node should >> it be associated with ? >> >> Thank you in advance >> Peshala >> >> >> >> ________________________________ >> Get your preferred Email name! >> Now you can @ymail.com and @rocketmail.com. >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > > > > -- > Tully Foote > Systems Engineer > Willow Garage, Inc. > tfoote@willowgarage.com > (650) 475-2827 > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > -- MSc. Dejan Pangercic PhD Student/Researcher Computer Science IX Technische Universität München Telephone: +49 (89) 289-17780 E-Mail: dejan.pangercic@in.tum.de WWW: http://ias.cs.tum.edu/people/pangercic