diff --git a/cob_bringup/components/laser_front.launch b/cob_bringup/components/laser_front.launch
index f4b5e7b32..ebdc25995 100644
--- a/cob_bringup/components/laser_front.launch
+++ b/cob_bringup/components/laser_front.launch
@@ -8,9 +8,9 @@
 	</node>
 	
 	<!-- laser filter -->
-	<node name="laser_front_filter" pkg="cob_sick_s300" type="cob_scan_filter" respawn="false" output="screen" >
-		<remap from="laser_front_filter/scan" to="/scan_front_raw"/>
-		<remap from="laser_front_filter/scan_filtered" to="/scan_front"/>
+	<node name="laser_front_filter" pkg="cob_sick_s300" type="cob_scan_filter" respawn="false" output="screen" ns="laser_front" >
+		<remap from="/laser_front/scan" to="/scan_front_raw"/>
+		<remap from="/laser_front/scan_filtered" to="/scan_front"/>
 	</node>
 
 </launch>
diff --git a/cob_bringup/components/laser_rear.launch b/cob_bringup/components/laser_rear.launch
index 888edd7e2..6daa69464 100644
--- a/cob_bringup/components/laser_rear.launch
+++ b/cob_bringup/components/laser_rear.launch
@@ -8,9 +8,9 @@
 	</node>
 	
 	<!-- laser filter -->
-	<node name="laser_rear_filter" pkg="cob_sick_s300" type="cob_scan_filter" respawn="false" output="screen" >
-		<remap from="laser_rear_filter/scan" to="/scan_rear_raw"/>
-		<remap from="laser_rear_filter/scan_filtered" to="/scan_rear"/>
+	<node name="laser_rear_filter" pkg="cob_sick_s300" type="cob_scan_filter" respawn="false" output="screen" ns="laser_rear" >
+		<remap from="/laser_rear/scan" to="/scan_rear_raw"/>
+		<remap from="/laser_rear/scan_filtered" to="/scan_rear"/>
 	</node>
 
 </launch>
diff --git a/cob_hardware_config/cob3-3/config/laser_front.yaml b/cob_hardware_config/cob3-3/config/laser_front.yaml
index 79a3b4a09..d6ccc1c38 100644
--- a/cob_hardware_config/cob3-3/config/laser_front.yaml
+++ b/cob_hardware_config/cob3-3/config/laser_front.yaml
@@ -1,7 +1,8 @@
 port: /dev/ttyScan1
 baud: 500000
+scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
+scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
 inverted: true
 scan_id: 7
 frame_id: /base_laser_front_link
-start_scan: 115
-stop_scan: 426
+scan_intervals: [[-1.3526, 1.361357]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/cob3-3/config/laser_rear.yaml b/cob_hardware_config/cob3-3/config/laser_rear.yaml
index e2c724b61..781deca12 100644
--- a/cob_hardware_config/cob3-3/config/laser_rear.yaml
+++ b/cob_hardware_config/cob3-3/config/laser_rear.yaml
@@ -1,7 +1,8 @@
 port: /dev/ttyScan0
 baud: 500000
+scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
+scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
 inverted: true
 scan_id: 8
 frame_id: /base_laser_rear_link
-start_scan: 115
-stop_scan: 426
+scan_intervals: [[-1.3526, 1.361357]] #[rad from -PI to PI] these intervals are included to the scan