diff --git a/config/velodyne.yaml b/config/velodyne.yaml
index c2d24b7..b5076b5 100644
--- a/config/velodyne.yaml
+++ b/config/velodyne.yaml
@@ -17,7 +17,7 @@ mapping:
     b_gyr_cov: 0.0001
     fov_degree:    180
     det_range:     100.0
-    extrinsic_est_en:  true      # true: enable the online estimation of IMU-LiDAR extrinsic,
+    extrinsic_est_en:  false      # true: enable the online estimation of IMU-LiDAR extrinsic,
     extrinsic_T: [ 0, 0, 0.28]
     extrinsic_R: [ 1, 0, 0, 
                    0, 1, 0, 
@@ -32,4 +32,4 @@ publish:
 pcd_save:
     pcd_save_en: true
     interval: -1                 # how many LiDAR frames saved in each pcd file; 
-                                 # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.
\ No newline at end of file
+                                 # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.