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You can achieve this by filtering the laser scans to avoid the obstacles too close. Unfortunatly with the LDS-01 you can't change the param range_min simply with a launch file, you have two options :

• Create a simple node subscribing to /scan (or the topic published by the lidar if you have changed the default name), filter those values manually and then publish the new laser scan data on a new topic /scan_filtered for example.
• There is a package doing this for you and allows you to use more complex filters : the laser_filters package.

In both case you take as input the data from the topic /scan to publish them on a new topic /scan_filtered and you just have to change in the slam configuration to use this new topic as input.