!ClusterDetector paramters are:
||<tablewidth="60%">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>
}}}