diff --git a/yaml/trajectory_analysys/E.yaml b/yaml/trajectory_analysys/E.yaml
index 32b5cb684349663b3a0162dc1a5af7d89caf9d30..78be236f694a44563443c4c8cc88c1c96fd79f5d 100644
--- a/yaml/trajectory_analysys/E.yaml
+++ b/yaml/trajectory_analysys/E.yaml
@@ -146,4 +146,10 @@ config:
       p_free_th: 0.2
       p_obst_th: 0.9
       discard_max_range: true
+    -
+      package: "wolf_ros_laser"
+      type: "PublisherOdomIcp"
+      topic: "odom_icp"
+      period: 0.1
+      processor_name: "processorodomicp"