diff --git a/src/slam3d_pkg/config/rtabmap_mkmini-real.yaml b/src/slam3d_pkg/config/rtabmap_mkmini-real.yaml
index 655b0fe..0211b5e 100755
--- a/src/slam3d_pkg/config/rtabmap_mkmini-real.yaml
+++ b/src/slam3d_pkg/config/rtabmap_mkmini-real.yaml
@@ -1,7 +1,9 @@
 icp_odometry:
   ros__parameters:
     odom_frame_id: icp_odom
-    guess_frame_id: odom
+    # MKMini does not publish odom -> base_link TF. Let ICP estimate motion
+    # directly from the LiDAR cloud instead of requesting that unavailable TF.
+    guess_frame_id: ''
     OdomF2M/ScanSubtractRadius: '0.0'
     OdomF2M/ScanMaxSize: '10000'
 
@@ -29,8 +31,6 @@ icp_odometry:
     Icp/OutlierRatio: "0.6"
     Icp/Force4DoF: "true"
     Icp/CorrespondenceRatio: "0.02"
-    Odom/GuessFromTf: "false"
-
     Odom/GuessMotion: "false"
 
 rtabmap:
@@ -71,9 +71,6 @@ rtabmap:
     RGBD/StartAtOrigin: "true"
     RGBD/LocalizationPriorError: "5.0"
     RGBD/LocalizationSmoothing: "false"
-    Odom/GuessFromTf: "false"
-
-
     frame_id: base_link
     wait_for_transform: 2.0