diff --git a/config/default_config.yaml b/config/default_config.yaml
index f08a43db88ba04175d07510188f55cc2608ec3ad..bf059a19747afa22406cbf7f717bae5843d8869b 100755
--- a/config/default_config.yaml
+++ b/config/default_config.yaml
@@ -1,5 +1,5 @@
 # sensor information
-base_frame_id: "ana/base_footprint"
+#base_frame_id: "ana/base_footprint"
 min_range: 0.1
 max_range: 50.0
 sensor_height: 0.3
diff --git a/launch/node.launch b/launch/node.launch
index b65000d43b3918c6d715ec63e9c175c2555afe9b..52a0653e55f2111e226d5e38f37f606e844fde98 100644
--- a/launch/node.launch
+++ b/launch/node.launch
@@ -7,6 +7,7 @@
   <arg name="output" default="screen"/>
   <arg name="launch_prefix" default=""/>
   <arg name="cloud_in" default="~pointcloud_in"/>
+  <arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
 
   <group ns="$(arg ns)">
 
@@ -17,6 +18,7 @@
           launch-prefix="$(arg launch_prefix)">
       <remap from="~pointcloud_in" to="$(arg cloud_in)"/>
       <rosparam file="$(arg config_file)" command="load"/>
+      <param name="base_frame_id" value="$(arg base_frame_id)"/>
     </node>
 
   </group>
diff --git a/launch/nodelet.launch b/launch/nodelet.launch
index 9926783b94d5cd41a29cb504c25cf8addae50106..dbdc16d2dc3afa178e1b1e47b4a3d70db9348e36 100644
--- a/launch/nodelet.launch
+++ b/launch/nodelet.launch
@@ -8,6 +8,7 @@
   <arg name="output" default="screen"/>
   <arg name="launch_prefix" default=""/>
   <arg name="cloud_in" default="~pointcloud_in"/>
+  <arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
 
   <group ns="$(arg ns)">
 
@@ -18,6 +19,7 @@
           output="$(arg output)">
       <remap from="~pointcloud_in" to="$(arg cloud_in)"/>
       <rosparam file="$(arg config_file)" command="load"/>
+      <param name="base_frame_id" value="$(arg base_frame_id)"/>
     </node>
 
   </group>