diff --git a/launch/imu2d_analysys.launch b/launch/imu2d_analysys.launch
index 0317c5974863ad6dcdf5cabd015fcf0420c5f943..e8c7d7af764934d423fd243d30c2b6a6f60c9229 100644
--- a/launch/imu2d_analysys.launch
+++ b/launch/imu2d_analysys.launch
@@ -27,7 +27,8 @@
                   "/wolf_ros_node/odom_icp"
                   "/imu_micro_bias_accel"
                   "/imu_micro_bias_gyro"
-                  "/imu_micro_pose_from_origin"'/>
+                  "/imu_micro_pose_from_origin"
+                  "/imu_micro_slope_and_orientation"'/>
     </group>
 
     <!-- TF -->
diff --git a/yaml/trajectory_analysys/T.yaml b/yaml/trajectory_analysys/T.yaml
index 169a94793b57d13d698fd05e41ac514d0dc474ae..acaa4c9f73c75e17fe558b918147d5674e6d94ad 100644
--- a/yaml/trajectory_analysys/T.yaml
+++ b/yaml/trajectory_analysys/T.yaml
@@ -21,7 +21,7 @@ config:
         V: [0,0,0]
       $sigma:
         P: [0.01, 0.01, 0.01]
-        O: [1, 1, 1]
+        O: [1, 1, 0.01]
         V: [0.01, 0.01, 0.01]
       time_tolerance: 0.1
     node_rate: 100