robot_body_filter

A ROS filter that removes the robot's own body from point clouds and laser scans, so the robot does not appear as obstacles in its sensor data.

Made by Vision for Robotics and Autonomous Systems, Czechia (checked on github.com/ctu-vras (opens in a new tab)).

Licenses

Code: BSD-3-Clause (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit b6635e9 (opens in a new tab), on 16 Oct 2026.
Commercial use: Yes

Loads as a standard filters::FilterBase filter, usable in a filter chain alongside other filters.
Removes points inside the robot body via a containment test and points shadowed by the body via ray tracing.
Clips data to the sensor's min and max distance limits.
Builds the robot model from URDF collision elements, with scale and padding inflation per link.
Can publish the robot's bounding sphere, axis-aligned and oriented bounding boxes, and cut-out point clouds.
Supports organized and non-organized point clouds, laser scans, and point-by-point acquisition with pose interpolation over the scan.

Written by Robotheca from the project's README (opens in a new tab) at commit b6635e9.

Checked on GitHub on 16 Oct 2026.

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.