box_filter.launch

<launch>

  <arg name="vehicle" default="X1" />
<!-- PCL Manager -->
  <node pkg="nodelet" type="nodelet" name="cropbox_filter_pcl_manager" args="manager" output="screen"/>

  <!-- A CropBox filter to avoid self-detection -->
  <node pkg="nodelet" type="nodelet" name="self_removal" args="load pcl/CropBox cropbox_filter_pcl_manager" output="screen">
    <remap from="~input" to="points" />
    <remap from="~output" to="octomap_in" />
    <param name="input_frame" value="$(arg vehicle)/base_link/front_laser" />
    <param name="output_frame" value="$(arg vehicle)/base_link/front_laser" />
    <rosparam>
      # true: no points in the box, false: no points outside the box
      negative: true
      min_x: -1.0
      max_x: 0.1
      min_y: -0.5
      max_y: 0.5
      min_z: -0.5
      max_z: 0.25
    </rosparam>
  </node>
</launch>