From 669e27a0f6793ef886a94e25532acc3daacd044c Mon Sep 17 00:00:00 2001
From: chyoo <chyoo@futuredrive.net>
Date: Wed, 29 Jul 2026 15:42:37 +0900
Subject: [PATCH] fix: use platform odometry as mkmini icp guess

---
 src/slam3d_pkg/config/rtabmap_mkmini-real.yaml | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/src/slam3d_pkg/config/rtabmap_mkmini-real.yaml b/src/slam3d_pkg/config/rtabmap_mkmini-real.yaml
index 0211b5e..be3c1a4 100755
--- a/src/slam3d_pkg/config/rtabmap_mkmini-real.yaml
+++ b/src/slam3d_pkg/config/rtabmap_mkmini-real.yaml
@@ -1,9 +1,8 @@
 icp_odometry:
   ros__parameters:
     odom_frame_id: icp_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: ''
+    # Perception3D bridges the platform /odom message into this TF.
+    guess_frame_id: odom
     OdomF2M/ScanSubtractRadius: '0.0'
     OdomF2M/ScanMaxSize: '10000'