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fix: run mkmini icp odometry without missing odom tf

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This commit is contained in:
chyoo
2026-07-29 15:40:34 +09:00
parent 0e43557d99
commit 19b2e800cc
1 changed files with 3 additions and 6 deletions
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src/slam3d_pkg/config/rtabmap_mkmini-real.yaml
+3 -6
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@@ -1,7 +1,9 @@
icp_odometry: icp_odometry:
ros__parameters: ros__parameters:
odom_frame_id: icp_odom 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/ScanSubtractRadius: '0.0'
OdomF2M/ScanMaxSize: '10000' OdomF2M/ScanMaxSize: '10000'
@@ -29,8 +31,6 @@ icp_odometry:
Icp/OutlierRatio: "0.6" Icp/OutlierRatio: "0.6"
Icp/Force4DoF: "true" Icp/Force4DoF: "true"
Icp/CorrespondenceRatio: "0.02" Icp/CorrespondenceRatio: "0.02"
Odom/GuessFromTf: "false"
Odom/GuessMotion: "false" Odom/GuessMotion: "false"
rtabmap: rtabmap:
@@ -71,9 +71,6 @@ rtabmap:
RGBD/StartAtOrigin: "true" RGBD/StartAtOrigin: "true"
RGBD/LocalizationPriorError: "5.0" RGBD/LocalizationPriorError: "5.0"
RGBD/LocalizationSmoothing: "false" RGBD/LocalizationSmoothing: "false"
Odom/GuessFromTf: "false"
frame_id: base_link frame_id: base_link
wait_for_transform: 2.0 wait_for_transform: 2.0