How can I configure the VLP-16 to ignore specific angle ranges?

[ky7400ky]

Hello everyone, on my actual robot, there are several structural poles located directly behind the LiDAR. These poles are being scanned by the sensor. Because they’re so close, the costmap’s inflation layer causes the robot to be unable to move during navigation. I’d like to ignore a specific angular range — for example, 160°–165° — so that these poles are not scanned.

While browsing the issues, I found that there’s a parameter called cut_angle. From what I understand, it seems to stop scanning once it reaches the specified angle starting from 0°. However, when I set it to 180°, the poles on the right-rear side still appear. By the way, I’m currently using only the /scan topic for SLAM

[knnurl]

You can make use of the following packages depending on your data topic. They allow you to filter certain angles, distances; and boxes in space too if filtering point cloud.

laser_filters (/scan)
point_cloud2_filters (/pointcloud2)

[ky7400ky]

You can make use of the following packages depending on your data topic. They allow you to filter certain angles, distances; and boxes in space too if filtering point cloud.

laser_filters (/scan) point_cloud2_filters (/pointcloud2)

Thank you so much