Add example launch & config for ease of use

examples/body_filter_node.launch

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+<?xml version="1.0"?>
+<launch>
+    <!-- Prerequisite: sensor_filters -->
+    <!-- https://github.com/ctu-vras/sensor_filters -->
+    <node name = "laser_filter" 
+        pkg="sensor_filters" 
+        type = "pointcloud2_filter_chain" 
+        output = "screen">
+
+        <rosparam command="load" file="$(dirname)/vlp16_params.yaml" />
+        <remap from="~input"                    to="velodyne_points" />
+        <remap from="~output"                   to="velodyne_points_filtered" />
+    </node>
+
+</launch>
+

examples/vlp16_params.yaml

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+# This is an example filter config for a commercial robot that use Velodyne VLP-16.
+cloud_filter_chain:
+  # Only containment filtering
+  - name: robot_body_filter_containment
+    type: robot_body_filter/RobotBodyFilterPointCloud2
+    params:
+      debug/pcl/clip: false
+      debug/pcl/inside: false
+      debug/pcl/shadow: false
+      sensor/min_distance: 0.05
+      sensor/max_distance: 10
+      # For more information of how to choose the fixed frame and configure point_by_point, see the discussion at https://github.com/peci1/robot_body_filter/pull/18#discussion_r780655811
+      sensor/point_by_point: true
+      frames/fixed: odom
+      frames/sensor: lidar_frame
+      frames/filtering: lidar_frame
+      frames/output: lidar_frame
+      body_model/inflation/scale: 1.0
+      body_model/inflation/padding: 0.03
+      body_model/robot_description_param: robot_description
+      filter/do_clipping: true
+      filter/do_contains_test: true
+      filter/do_shadow_test: false
+      only_links:
+        - base_link
+        - gps_link
+        - imu_link
+        - lidar_mount_link
+        - top