diff --git a/src/perception3d_pkg/launch/perception.launch.py b/src/perception3d_pkg/launch/perception.launch.py
index 132c28b..4420be3 100755
--- a/src/perception3d_pkg/launch/perception.launch.py
+++ b/src/perception3d_pkg/launch/perception.launch.py
@@ -49,6 +49,17 @@ def generate_launch_description():
     
     load_nodes = GroupAction(
         actions=[
+            # ICP odometry and RTAB-Map need the physical LiDAR frame in the
+            # robot TF tree. Keep this in the perception module because it
+            # owns the real LiDAR input.
+            Node(
+                package='tf2_ros',
+                executable='static_transform_publisher',
+                name='base_link_to_os_lidar',
+                output='screen',
+                arguments=['0.1', '0.0', '0.6', '0.0', '0.0', '0.0', 'base_link', 'os_lidar'],
+                condition=IfCondition(PythonExpression(["'", robot, "' == 'mkmini'"])),
+            ),
             Node(
                 package='perception3d_pkg',
                 executable='pcd_crop',
@@ -56,7 +67,7 @@ def generate_launch_description():
                 output='screen',
                 parameters=[configured_params],
                 remappings=remappings
-            )
+            ),
         ],
     )