From 0e43557d9984fdbff5dd128d75c5e24525056129 Mon Sep 17 00:00:00 2001 From: chyoo Date: Wed, 29 Jul 2026 15:38:41 +0900 Subject: [PATCH] fix: disable unavailable odom tf guess for mkmini slam --- src/slam3d_pkg/config/rtabmap_mkmini-real.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) 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"