scan_to_scan_filter_chain:
  ros__parameters:
    filter1:
      name: shadows
      type: laser_filters/ScanShadowsFilter
      params:
        min_angle: 10.
        max_angle: 170.
        neighbors: 20
        window: 1
    filter2:
      name: dark_shadows
      type: laser_filters/LaserScanIntensityFilter
      params: 
        lower_threshold: 100.
        upper_threshold: 10000.
        disp_histogram: 0

