diff --git a/include/laser_filters/range_filter.h b/include/laser_filters/range_filter.h
new file mode 100644
index 00000000..fb709da2
--- /dev/null
+++ b/include/laser_filters/range_filter.h
@@ -0,0 +1,94 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+* 
+*  Copyright (c) 2013, JSK (The University of Tokyo).
+*  All rights reserved.
+* 
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+* 
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the Willow Garage nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+* 
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+#ifndef LASER_SCAN_RANGE_FILTER_H
+#define LASER_SCAN_RANGE_FILTER_H
+/**
+\author Yohei Kakiuchi
+@b ScanRangeFilter takes input scans and filters within indicated range.
+**/
+
+
+#include "filters/filter_base.h"
+#include "sensor_msgs/LaserScan.h"
+
+namespace laser_filters
+{
+
+class LaserScanRangeFilter : public filters::FilterBase<sensor_msgs::LaserScan>
+{
+public:
+
+  double lower_threshold_ ;
+  double upper_threshold_ ;
+  int disp_hist_ ;
+
+  bool configure()
+  {
+    lower_threshold_ = 0.0;
+    upper_threshold_ = 100000.0;
+    disp_hist_ = 1;
+    getParam("lower_threshold", lower_threshold_);
+    getParam("upper_threshold", upper_threshold_) ;
+
+    return true;
+  }
+
+  virtual ~LaserScanRangeFilter()
+  {
+
+  }
+
+  bool update(const sensor_msgs::LaserScan& input_scan, sensor_msgs::LaserScan& filtered_scan)
+  {
+    filtered_scan = input_scan;
+    for (unsigned int i=0;
+         i < input_scan.ranges.size() && i < input_scan.intensities.size();
+         i++) // Need to check ever reading in the current scan
+    {
+      {
+      if (filtered_scan.ranges[i] <= lower_threshold_ || filtered_scan.ranges[i] >= upper_threshold_)
+        {
+          filtered_scan.ranges[i] = input_scan.range_max + 1.0 ;
+        }
+      }
+    }
+
+    return true;
+  }
+} ;
+
+}
+
+#endif // LASER_SCAN_RANGE_FILTER_H
diff --git a/laser_filters_plugins.xml b/laser_filters_plugins.xml
index 7d7d041b..c767af1b 100644
--- a/laser_filters_plugins.xml
+++ b/laser_filters_plugins.xml
@@ -12,6 +12,12 @@
 	This is a filter which filters sensor_msgs::LaserScan messages based on intensity
       </description>
     </class>
+    <class name="laser_filters/LaserScanRangeFilter" type="laser_filters::LaserScanRangeFilter" 
+	    base_class_type="filters::FilterBase<sensor_msgs::LaserScan>">
+      <description>
+	This is a filter which filters sensor_msgs::LaserScan messages based on intensity
+      </description>
+    </class>
     <class name="laser_filters/ScanShadowsFilter" type="laser_filters::ScanShadowsFilter" 
 	    base_class_type="filters::FilterBase<sensor_msgs::LaserScan>">
       <description>
diff --git a/src/laser_scan_filters.cpp b/src/laser_scan_filters.cpp
index b10d60b1..b41b173f 100644
--- a/src/laser_scan_filters.cpp
+++ b/src/laser_scan_filters.cpp
@@ -30,6 +30,7 @@
 #include "laser_filters/median_filter.h"
 #include "laser_filters/array_filter.h"
 #include "laser_filters/intensity_filter.h"
+#include "laser_filters/range_filter.h"
 #include "laser_filters/scan_shadows_filter.h"
 #include "laser_filters/footprint_filter.h"
 #include "laser_filters/interpolation_filter.h"
@@ -43,6 +44,7 @@
 PLUGINLIB_DECLARE_CLASS(laser_filters, LaserMedianFilter, laser_filters::LaserMedianFilter, filters::FilterBase<sensor_msgs::LaserScan>)
 PLUGINLIB_DECLARE_CLASS(laser_filters, LaserArrayFilter, laser_filters::LaserArrayFilter, filters::FilterBase<sensor_msgs::LaserScan>)
 PLUGINLIB_DECLARE_CLASS(laser_filters, LaserScanIntensityFilter, laser_filters::LaserScanIntensityFilter, filters::FilterBase<sensor_msgs::LaserScan>)
+PLUGINLIB_DECLARE_CLASS(laser_filters, LaserScanRangeFilter, laser_filters::LaserScanRangeFilter, filters::FilterBase<sensor_msgs::LaserScan>)
 PLUGINLIB_DECLARE_CLASS(laser_filters, LaserScanAngularBoundsFilter, laser_filters::LaserScanAngularBoundsFilter, filters::FilterBase<sensor_msgs::LaserScan>)
 PLUGINLIB_DECLARE_CLASS(laser_filters, LaserScanFootprintFilter, laser_filters::LaserScanFootprintFilter, filters::FilterBase<sensor_msgs::LaserScan>)
 PLUGINLIB_DECLARE_CLASS(laser_filters, ScanShadowsFilter, laser_filters::ScanShadowsFilter, filters::FilterBase<sensor_msgs::LaserScan>)
diff --git a/stack.xml b/stack.xml
index d7289221..3c3167ce 100644
--- a/stack.xml
+++ b/stack.xml
@@ -16,5 +16,5 @@
   <depend stack="pluginlib" /> <!-- pluginlib -->
   <depend stack="ros" />
   <depend stack="ros_comm" /> <!-- std_msgs, roscpp, message_filters -->
-  <depend stack="laser_geometry"/>
+  <!--depend stack="laser_geometry"/-->
 </stack>