Smooth Node - AtlasBuggy/BabyBuggyROS Wiki
rosrun smooth smooth.py [channel] [f/i] [nu]
where [channel] is the channel you want to smooth, [f/i] represents whether the given channel takes in Floats or Ints, and [nu] is coefficient of smoothing (optional, default 0.1).
Smooths out a channel to reduce the effect of noise. Performs the following operation on incoming data:
diff = datum - current_data current_data += nu * diff publish <- current_data
0 < nu < 1 Lesser nu means more smoothing, but be careful about data loss.