filter_kitti.launch

<launch>
  <param name="/use_sim_time" value="true" />

  <node pkg="nodelet" type="nodelet" name="pcl_manager_0g_x" args="manager" output="screen" />
  <!-- Run a VoxelGrid filter to clean NaNs and downsample the data -->
  <node pkg="nodelet" type="nodelet" name="voxel_grid_0g_x" args="load pcl/VoxelGrid pcl_manager_0g_x" output="screen">
    <remap from="~input" to="/kitti/velo/pointcloud" />
    <remap from="~output" to="/tmp_0g" />
    <rosparam>
      filter_field_name: x
      filter_limit_min: -40
      filter_limit_max: 40
      leaf_size: 0.2
    </rosparam>
  </node>

  <node pkg="nodelet" type="nodelet" name="pcl_manager_0g_z" args="manager" output="screen" />
  <!-- Run a VoxelGrid filter to clean NaNs and downsample the data -->
  <node pkg="nodelet" type="nodelet" name="voxel_grid_0g_z" args="load pcl/VoxelGrid pcl_manager_0g_z" output="screen">
    <remap from="~input" to="/tmp_0g" />
    <remap from="~output" to="/tmp2_0g" />
    <rosparam>
      filter_field_name: z
      filter_limit_min: -25
      filter_limit_max: 25
      leaf_size: 0.2
    </rosparam>
  </node>

  <node pkg="nodelet" type="nodelet" name="pcl_manager_0g_y" args="manager" output="screen" />
  <!-- Run a VoxelGrid filter to clean NaNs and downsample the data -->
  <node pkg="nodelet" type="nodelet" name="voxel_grid_0g_y" args="load pcl/VoxelGrid pcl_manager_0g_y" output="screen">
    <remap from="~input" to="/tmp2_0g" />
    <remap from="~output" to="/robot0/pointcloud" />
    <rosparam>
      filter_field_name: y
      filter_limit_min: -40
      filter_limit_max: 40
      leaf_size: 0.2
    </rosparam>
  </node>

</launch>