diff --git a/src/slam3d_pkg/config/rtabmap_mkmini-real.yaml b/src/slam3d_pkg/config/rtabmap_mkmini-real.yaml
index 910b31b..655b0fe 100755
--- a/src/slam3d_pkg/config/rtabmap_mkmini-real.yaml
+++ b/src/slam3d_pkg/config/rtabmap_mkmini-real.yaml
@@ -29,7 +29,7 @@ icp_odometry:
     Icp/OutlierRatio: "0.6"
     Icp/Force4DoF: "true"
     Icp/CorrespondenceRatio: "0.02"
-    Icp/GuessFromTf: "false"
+    Odom/GuessFromTf: "false"
 
     Odom/GuessMotion: "false"
 
@@ -71,7 +71,7 @@ rtabmap:
     RGBD/StartAtOrigin: "true"
     RGBD/LocalizationPriorError: "5.0"
     RGBD/LocalizationSmoothing: "false"
-    Icp/GuessFromTf: "false"
+    Odom/GuessFromTf: "false"
 
 
     frame_id: base_link
@@ -93,4 +93,4 @@ rtabmap:
     Icp/Force4DoF: "true"
     Icp/CorrespondenceRatio: "0.02"
 
-    Odom/GuessMotion: "false"
\ No newline at end of file
+    Odom/GuessMotion: "false"