diff --git a/config/params.yaml b/config/params.yaml
index 010c126af4ac75bd4a8e0febf671a50f9f6fe468..248be99d9ab8fad33c756c571a5998d019078f2b 100644
--- a/config/params.yaml
+++ b/config/params.yaml
@@ -24,5 +24,5 @@ buffer_size: 10
 scan_diff_t_from_collision: 0.0
 front_laser_en: True
 rear_laser_en: True
-icp_min_points: 200
+icp_min_points: 80
 icp_max_err_by_points: 0.3
diff --git a/src/collision_manager_alg_node.cpp b/src/collision_manager_alg_node.cpp
index 248af575b1b8547f82ff863554b56ef89143b05e..4b43b72dac7f9ea44f7cb67ea5cd8148ab2cb9eb 100644
--- a/src/collision_manager_alg_node.cpp
+++ b/src/collision_manager_alg_node.cpp
@@ -197,7 +197,7 @@ void CollisionManagerAlgNode::mainNodeThread(void)
               {
                 // ROS_INFO("CollisionManagerAlgNode::mainNodeThread -> Front icp_client_ received a response from service server");
                 // ROS_INFO_STREAM("   valid " << (int)front_icp_srv_.response.valid);
-                // ROS_INFO_STREAM("   new_laser_pose " << front_icp_srv_.response.new_laser_pose);
+                // ROS_INFO_STREAM("   Front new_laser_pose " << front_icp_srv_.response.new_laser_pose);
                 // ROS_INFO_STREAM("   covariance " << front_icp_srv_.response.covariance[0] << ", " << front_icp_srv_.response.covariance[1] << ", " << front_icp_srv_.response.covariance[2] << ", " << front_icp_srv_.response.covariance[3] << ", " << front_icp_srv_.response.covariance[4] << ", " << front_icp_srv_.response.covariance[5] << ", " << front_icp_srv_.response.covariance[6] << ", " << front_icp_srv_.response.covariance[7] << ", " << front_icp_srv_.response.covariance[8]);
                 // ROS_INFO_STREAM("   nvalid " << front_icp_srv_.response.nvalid << "; min " << this->config_.icp_min_points);
                 // ROS_INFO_STREAM("   error " << front_icp_srv_.response.error);
@@ -311,7 +311,7 @@ void CollisionManagerAlgNode::mainNodeThread(void)
               {
                 // ROS_INFO("CollisionManagerAlgNode::mainNodeThread -> Rear icp_client_ received a response from service server");
                 // ROS_INFO_STREAM("   valid " << (int)rear_icp_srv_.response.valid);
-                // ROS_INFO_STREAM("   new_laser_pose " << rear_icp_srv_.response.new_laser_pose);
+                // ROS_INFO_STREAM("   Rear new_laser_pose " << rear_icp_srv_.response.new_laser_pose);
                 // ROS_INFO_STREAM("   covariance " << rear_icp_srv_.response.covariance[0] << ", " << rear_icp_srv_.response.covariance[1] << ", " << rear_icp_srv_.response.covariance[2] << ", " << rear_icp_srv_.response.covariance[3] << ", " << rear_icp_srv_.response.covariance[4] << ", " << rear_icp_srv_.response.covariance[5] << ", " << rear_icp_srv_.response.covariance[6] << ", " << rear_icp_srv_.response.covariance[7] << ", " << rear_icp_srv_.response.covariance[8]);
                 // ROS_INFO_STREAM("   nvalid " << rear_icp_srv_.response.nvalid << "; min " << this->config_.icp_min_points);
                 // ROS_INFO_STREAM("   error " << rear_icp_srv_.response.error);