pr2_laser_and_filters.dot

digraph {
  subgraph cluster_0 {
    label="/tilt_shadow_filter";
    "in" -> "shadow [laser_filters/ScanShadowFilter]" -> "dark_shadows [laser_filters/LaserScanIntensityFilter]" -> "angular_bounds [laser_filters/LaserScanAngularBoundsFilter]" -> "downscan_filter [laser_tilt_controller_filter/LaserTiltControllerFilter]" -> "footprint_filter [pr2_navigation_perception/PR2PointCloudFootprintFilterNew]" -> "out"
  }
  subgraph cluster_1 {
    label="/base_shadow_filter";
    "in " -> "shadow [laser_filters/ScanShadowFilter] " -> "dark_shadows [laser_filters/LaserScanIntensityFilter] " -> "footprint_filter [pr2_navigation_perception/PR2PointCloudFootprintFilterNew] " -> "out "
  }
  node [shape=box]
  "/tilt_hokuyo_node" [shape=hexagon]
  "/base_hokuyo_node" [shape=hexagon]
  "" [shape=point]
  " " [shape=point]
  "   " [shape=point]
  "    " [shape=point]
  "/base_hokuyo_node" -> "in " [label="/base_scan [sensor_msgs/LaserScan]"]
  "out " -> "/base_laser_self_filter" [label="/base_scan_shadow_filtered [sensor_msgs/PointCloud2]"]
  "/base_hokuyo_node" -> "/base_scan_throttle" [label="/base_scan [sensor_msgs/LaserScan]"]
  "/base_scan_throttle" -> "" [label="/base_scan_throttled [sensor_msgs/LaserScan]"]
  "/base_laser_self_filter" -> "/base_scan_marking_to_laserscan" [label="/base_scan_marking [sensor_msgs/PointCloud2]"]
  "/base_scan_marking_to_laserscan" -> "   " [label="/base_scan_for_leg_detect [sensor_msgs/LaserScan]"]
  "/tilt_hokuyo_node" -> "in" [label="/tilt_scan [sensor_msgs/LaserScan]"]
  "out" -> "/tilt_laser_self_filter" [label="/tilt_scan_shadow_filtered [sensor_msgs/PointCloud2]"]
  "/tilt_hokuyo_node" -> "/interpolate_missing_tilt_laser_data_filter" [label="/tilt_scan [sensor_msgs/LaserScan]"]
  "/interpolate_missing_tilt_laser_data_filter" -> " " [label="/tilt_scan_interpolated [sensor_msgs/LaserScan]"]
  "/tilt_laser_self_filter" -> "    " [label="/tilt_scan_filtered [sensor_msgs/PointCloud2]"]
}

pr2_laser_and_filters.pdf