From 2c1c31817d48b2917ea70ac49509056c679be1e1 Mon Sep 17 00:00:00 2001
From: chyoo <chyoo@futuredrive.net>
Date: Wed, 12 Aug 2026 10:17:21 +0900
Subject: [PATCH] fix(nav2): align mkmini lidar transform

---
 src/perception3d_pkg/config/tf_mkmini.yaml | 5 ++---
 src/perception_pkg/config/tf_mkmini.yaml   | 4 ++--
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/src/perception3d_pkg/config/tf_mkmini.yaml b/src/perception3d_pkg/config/tf_mkmini.yaml
index 1452a9c..fe6b664 100755
--- a/src/perception3d_pkg/config/tf_mkmini.yaml
+++ b/src/perception3d_pkg/config/tf_mkmini.yaml
@@ -1,8 +1,8 @@
 
 lidar:
-  x: 0.1
+  x: 0.15
   y: 0.0
-  z: 0.6
+  z: 0.5
   roll: 0.0
   pitch: 0.0
   yaw: 0.0
@@ -28,4 +28,3 @@ rgb_front:
   yaw: 1.035
   frame_id: base_link
   child_frame_id: hero/rgb_front
-
diff --git a/src/perception_pkg/config/tf_mkmini.yaml b/src/perception_pkg/config/tf_mkmini.yaml
index 094e818..05d2648 100755
--- a/src/perception_pkg/config/tf_mkmini.yaml
+++ b/src/perception_pkg/config/tf_mkmini.yaml
@@ -1,8 +1,8 @@
 
 lidar:
-  x: 0.1
+  x: 0.15
   y: 0.0
-  z: 0.6
+  z: 0.5
   roll: 0.0
   pitch: 0.0
   yaw: 0.0