diff --git a/src/iri_nav_module/dyn_params.py b/src/iri_nav_module/dyn_params.py
index 9e1185137a0ca6fdcf1d64e117eaf943c5b2a979..394d9c151ef93ebe475f0086a4a75391f8c4f6a6 100644
--- a/src/iri_nav_module/dyn_params.py
+++ b/src/iri_nav_module/dyn_params.py
@@ -18,18 +18,18 @@ def add_nav_module_params(gen,name):
   add_module_params(new_group,prefix+"module")
 
   move_base_action=add_module_action_params(new_group,prefix+"move_base")
-  move_base_action.add(prefix+"move_base_goal_frame_id",str_t,                   0,                     "Reference frame of the position goals","map")
-  move_base_action.add(prefix+"move_base_global_frame_id",str_t,                   0,                     "Global reference frame of the TF","map")
-  move_base_action.add(prefix+"move_base_robot_frame_id",str_t,                   0,                     "Main reference frame of the robot","map")
-  move_base_action.add(prefix+"move_base_cancel_prev", bool_t,              0,                     "Cancel previous action",         True)
+  move_base_action.add(prefix+"move_base_goal_frame_id",str_t,   0, "Reference frame of the position goals","map")
+  move_base_action.add(prefix+"move_base_global_frame_id",str_t, 0, "Global reference frame of the TF",     "map")
+  move_base_action.add(prefix+"move_base_robot_frame_id",str_t,  0, "Main reference frame of the robot",    "base_footprint")
+  move_base_action.add(prefix+"move_base_cancel_prev", bool_t,   0, "Cancel previous action",               True)
 
-  odom.add(prefix+"odom_watchdog_time_s",   double_t,                0,                     "Maximum time between odom messages",1,   0.01,    50)
+  odom.add(prefix+"odom_watchdog_time_s",   double_t, 0, "Maximum time between odom messages",1,   0.01,    50)
 
-  tf.add(prefix+"tf_timeout_time_s",        double_t,                0,                     "Maximum time to wait for transform",5,   0.01,    50)
+  tf.add(prefix+"tf_timeout_time_s",        double_t, 0, "Maximum time to wait for transform",5,   0.01,    50)
 
   costmap=add_module_service_params(new_group,prefix+"clear_costmap")
-  costmap.add(prefix+"clear_costmap_enable_auto_clear",bool_t,                  0,                     "Periodically clear the costmaps",False)
-  costmap.add(prefix+"clear_costmap_auto_clear_rate_hz",double_t,               0,                     "Clear costmaps period",          0.1,    0.01,     1.0)
+  costmap.add(prefix+"clear_costmap_enable_auto_clear",bool_t,    0, "Periodically clear the costmaps",False)
+  costmap.add(prefix+"clear_costmap_auto_clear_rate_hz",double_t, 0, "Clear costmaps period",          0.1,    0.01,     1.0)
 
   make_plan=add_module_service_params(new_group,prefix+"make_plan")