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fix: use platform odometry as mkmini icp guess

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chyoo
2026-07-29 15:42:37 +09:00
parent 19b2e800cc
commit 669e27a0f6
1 changed files with 2 additions and 3 deletions
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src/slam3d_pkg/config/rtabmap_mkmini-real.yaml
+2 -3
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@@ -1,9 +1,8 @@
icp_odometry: icp_odometry:
ros__parameters: ros__parameters:
odom_frame_id: icp_odom odom_frame_id: icp_odom
# MKMini does not publish odom -> base_link TF. Let ICP estimate motion # Perception3D bridges the platform /odom message into this TF.
# directly from the LiDAR cloud instead of requesting that unavailable TF. guess_frame_id: odom
guess_frame_id: ''
OdomF2M/ScanSubtractRadius: '0.0' OdomF2M/ScanSubtractRadius: '0.0'
OdomF2M/ScanMaxSize: '10000' OdomF2M/ScanMaxSize: '10000'