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I am not sure because I did not have time to test it, but I noticed in the code the following line may be wrong, this could be the reason you always get a constant for the range value.

double min_range = this->raysensor->GetRangeMax();

notice how 'min_range' variable gets the max range value from the function 'GetRangeMax()'

And is the plugin doing what is supposed to do? 'You should see the box move slowly towards the wall.' ?

Cheers, Andrei