Fix (find): add laser correction with changed parameters to detect le…

…gs better

parameters/world_modeling/world_model.yaml

@@ -77,22 +77,22 @@ plugins:
           alpha4: 0.5    # rot -> rot
           alpha5: 0      # trans -> strafe
 
-#- name: laser_integration
-#  lib: libed_laser_plugin.so
-#  frequency: 40
-#  parameters:
-#      laser_topic: /hero/base_laser/scan
-#      min_segment_size_pixels: 10
-#      world_association_distance: 0.4
-#      segment_depth_threshold: 0.2
-#      min_cluster_size: 0.2
-#      max_cluster_size: 1.0
-#      max_gap_size: 10
-#- name: entity_clearer
-#  lib: libed_clearer_plugin.so
-#  enabled: 1
-#  parameters:
-#      entity_timeout: 1.0
+- name: laser_integration
+  lib: libed_laser_plugin.so
+  frequency: 40
+  parameters:
+      laser_topic: /hero/base_laser/scan
+      min_segment_size_pixels: 5
+      world_association_distance: 0.4
+      segment_depth_threshold: 0.2
+      min_cluster_size: 0.2
+      max_cluster_size: 1.0
+      max_gap_size: 15
+- name: entity_clearer
+  lib: libed_clearer_plugin.so
+  enabled: 1
+  parameters:
+      entity_timeout: 1.0
 
 - name: rgbd_integration # Kinect integration
   lib: libed_kinect_plugin.so