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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>

2020-09-26 12:32