diff --git a/config/range_filter.yaml b/config/range_filter.yaml
index 4f398e44146809a070b92d3253e9ab2027bb9e9b..576448fffdef9620f4e9ac5d2ed014900e5e90c4 100644
--- a/config/range_filter.yaml
+++ b/config/range_filter.yaml
@@ -3,7 +3,7 @@ scan_filter_chain:
   type: laser_filters/LaserScanRangeFilter
   params:
     use_message_range_limits: false
-    lower_threshold: 2.0
+    lower_threshold: 3.5
     upper_threshold: .inf
     lower_replacement_value: .inf
     upper_replacement_value: .inf
diff --git a/src/collision_manager_alg_node.cpp b/src/collision_manager_alg_node.cpp
index 0bb8904fbb9276f3ce494aec5712cf8de1e88474..daa5add88162dc454a83a554cba211635aa61b8e 100644
--- a/src/collision_manager_alg_node.cpp
+++ b/src/collision_manager_alg_node.cpp
@@ -178,10 +178,10 @@ void CollisionManagerAlgNode::mainNodeThread(void)
           this->rear_icp_srv_.request.rot_angle_estimation = this->front_icp_srv_.request.rot_angle_estimation;
           // rotate angle with tf between blink and laser
           ////////////////////////////////////////////////////////7 uncoment////////////////////////////////////////7
-          // if (this->z_axis_blink_front_laser_inv_)
-          //   this->front_icp_srv_.request.rot_angle_estimation *=-1.0;
-          // if (this->z_axis_blink_rear_laser_inv_)
-          //   this->rear_icp_srv_.request.rot_angle_estimation *=-1.0;
+          if (this->z_axis_blink_front_laser_inv_)
+            this->front_icp_srv_.request.rot_angle_estimation *=-1.0;
+          if (this->z_axis_blink_rear_laser_inv_)
+            this->rear_icp_srv_.request.rot_angle_estimation *=-1.0;
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////7
           // ROS_INFO_STREAM("CollisionManagerAlgNode::mainNodeThread -> collision detected: angle estimated = " << this->front_icp_srv_.request.rot_angle_estimation);