nav stack does not use the robot self filter on the sensor data

[hershwg]

[Originally submitted to kforge trac by ben cohen]

From the sushi challenge, I realized that the point cloud from the tilt laser (and all sensors) is not filtered with the robot_self_filter. For mobile manipulation's sake, I think that it would be very helpful if the tilt laser was filtered so that the arms don't have to be completely tucked and we the robot can carry things.

I think this will become even more urgent in the near future as people start doing more mobile manipulation tasks with their robots.

Thanks a lot! I'd be more than happy to discuss this further...

(We used the stock Electric version of move_base)