From 8d6c0222badc3363bba08bc6b27cb6c10165e127 Mon Sep 17 00:00:00 2001
From: chyoo <chyoo@futuredrive.net>
Date: Mon, 10 Aug 2026 11:59:33 +0900
Subject: [PATCH] fix: allow RTAB-Map to initialize away from map origin

---
 src/localization_pkg/config/rtabmap_mkmini.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/localization_pkg/config/rtabmap_mkmini.yaml b/src/localization_pkg/config/rtabmap_mkmini.yaml
index 910b31b..17d0bdf 100755
--- a/src/localization_pkg/config/rtabmap_mkmini.yaml
+++ b/src/localization_pkg/config/rtabmap_mkmini.yaml
@@ -68,7 +68,7 @@ rtabmap:
     Grid/MinClusterSize: "10"
     Grid/FlatObstacleDetected: "true"
 
-    RGBD/StartAtOrigin: "true"
+    RGBD/StartAtOrigin: "false"
     RGBD/LocalizationPriorError: "5.0"
     RGBD/LocalizationSmoothing: "false"
     Icp/GuessFromTf: "false"
@@ -93,4 +93,4 @@ rtabmap:
     Icp/Force4DoF: "true"
     Icp/CorrespondenceRatio: "0.02"
 
-    Odom/GuessMotion: "false"
\ No newline at end of file
+    Odom/GuessMotion: "false"