ClusterDetector paramters are:
ptu_loid |
a frame that is fixed relative to the robot and to the floor (z up) |
sr_loid (deprecated) |
position of the sensor, this information can be taken from the sensor |
<AlgorithmEval>
<ClusterDetector ptu_loid="/base_link" sr_loid="/sr4" />
<AlgType>123</AlgType>
<Eval>0.010000</Eval>
<AvgTime>0.000000</AvgTime>
</AlgorithmEval>