diff --git a/scenarios/LaserScannerTest/config/HokuyoLaserUnitApp.cfg b/scenarios/LaserScannerTest/config/HokuyoLaserUnitApp.cfg
index 37804992be69d3fba75c67f1ce9a91b49055a8c3..effbf0059a3f5aee7da7b6aa9b5d3b7b46c9194c 100644
--- a/scenarios/LaserScannerTest/config/HokuyoLaserUnitApp.cfg
+++ b/scenarios/LaserScannerTest/config/HokuyoLaserUnitApp.cfg
@@ -79,10 +79,10 @@
 #  - Default:            -2.3561945
 #  - Case sensitivity:   no
 #  - Required:           no
-# ArmarX.HokuyoLaserUnit.AngleOffset = -2.3561945
+ArmarX.HokuyoLaserUnit.AngleOffset = 0
 
 
-# ArmarX.HokuyoLaserUnit.Devices:  List of devices in form of 'IP1,port1;IP2,port2;...'
+# ArmarX.HokuyoLaserUnit.Devices:  List of devices in form of 'IP1,port1,frame1;IP2,port2,frame2;...'
 #  Attributes:
 #  - Default:            ""
 #  - Case sensitivity:   no
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.cpp b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.cpp
index 4ed9add233d600fe99badbeaa85c17791c959e41..01a0f8d8cb851b70b8ae3025099f059926cdeca5 100644
--- a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.cpp
@@ -32,8 +32,6 @@ using namespace armarx;
 LaserScannerPluginWidgetController::LaserScannerPluginWidgetController()
 {
     widget.setupUi(getWidget());
-
-    widget.graphicsView->setScene(&scene);
 }
 
 
@@ -129,10 +127,10 @@ void LaserScannerPluginWidgetController::onNewSensorValuesReported()
 
     QGraphicsView* view = widget.graphicsView;
 
-
-    scene.clear();
+    scene.reset(new QGraphicsScene());
+    widget.graphicsView->setScene(scene.get());
     int outerR = std::min(view->width() / 2, view->height() / 2);
-    scene.addEllipse(-outerR, -outerR, 2 * outerR, 2 * outerR, QPen(QColor(255, 255, 255)));
+    scene->addEllipse(-outerR, -outerR, 2 * outerR, 2 * outerR, QPen(QColor(255, 255, 255)));
     int r = outerR - 10;
     //scene.addEllipse(-r, -r, 2 * r, 2 * r, QPen(QColor(200, 200, 200)));
     QColor stepColor(QColor::fromRgb(100, 100, 255));
@@ -141,7 +139,7 @@ void LaserScannerPluginWidgetController::onNewSensorValuesReported()
     auto line = [&](float angle, float d)
     {
         float di = d * r;
-        QGraphicsEllipseItem* item = scene.addEllipse(-di, -di, 2 * di, 2 * di, stepPen, stepBrush);
+        QGraphicsEllipseItem* item = scene->addEllipse(-di, -di, 2 * di, 2 * di, stepPen, stepBrush);
         // Angles for Qt ellipse are in 16th of degree (who thought that would be a great idea?)
         item->setStartAngle(std::round(16.0f * angle * 180.0 / M_PI) + 90 * 16);
         item->setSpanAngle(std::round(stepSize * 16.0f * 180.0 / M_PI));
@@ -175,10 +173,10 @@ void LaserScannerPluginWidgetController::onNewSensorValuesReported()
     for (int ringIndex = 1; ringIndex <= maxNumberOfRings; ++ringIndex)
     {
         float ri =  1.0f * ringIndex / maxNumberOfRings * r;
-        scene.addEllipse(-ri, -ri, 2 * ri, 2 * ri, QPen(QColor(200, 200, 200)));
+        scene->addEllipse(-ri, -ri, 2 * ri, 2 * ri, QPen(QColor(200, 200, 200)));
     }
 
-    view->fitInView(scene.itemsBoundingRect(), Qt::KeepAspectRatio);
+    view->fitInView(scene->itemsBoundingRect(), Qt::KeepAspectRatio);
 }
 
 void LaserScannerPluginWidgetController::onDeviceSelected(int index)
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.h b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.h
index f0310dba015af5435c0b9cbab8a85e09b473fe6d..61de784ae16b9626c5c8962378d9383a4da7eedd 100644
--- a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.h
+++ b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.h
@@ -125,7 +125,7 @@ namespace armarx
         std::unordered_map<std::string, std::deque<int>> numberOfRingsHistory;
 
 
-        QGraphicsScene scene;
+        std::unique_ptr<QGraphicsScene> scene;
     };
 }