diff --git a/src/xml/nav_main_tree.xml b/src/xml/nav_main_tree.xml
index 50b0e5761a7e9a70c24596c548d3ce63b9c7e1cc..38ed00b9685cb020737933dd19727a4157facf1f 100644
--- a/src/xml/nav_main_tree.xml
+++ b/src/xml/nav_main_tree.xml
@@ -2,10 +2,10 @@
     <BehaviorTree ID="NAV_MAIN">
       <Fallback>
         <SequenceStar>
-          <Action ID="set_goal_frame" frame_id="/map"/>
+          <Action ID="set_goal_frame" frame_id="{f_id}"/>
           <Fallback>
             <Sequence>
-              <SubTree ID="go_to_goal" x="x" y="y" yaw="yaw" heading_tol="heading_tol" x_y_pos_tol="x_y_pos_tol" update_goal="update_goal" output_go_to_goal="NAV_BT_status"/>
+              <SubTree ID="go_to_goal" x="x" y="y" yaw="yaw" heading_tol="heading_tol" x_y_pos_tol="x_y_pos_tol" update_goal="update_goal" output_go_to_goal="NAV_BT_status" f_id="f_id"/>
               <SetBlackboard output_key="output_nav" value="{NAV_BT_status}"/>
             </Sequence>
             <ForceFailure>
@@ -24,7 +24,7 @@
 
     <BehaviorTree ID="go_to_goal">
       <Sequence>
-        <Action ID="set_goal_frame" frame_id="/map"/>
+        <Action ID="set_goal_frame" frame_id="{f_id}"/>
         <Timeout msec="600000">
           <RetryUntilSuccesful num_attempts="3">
             <Action ID="async_go_to_pose" x="{x}" y="{y}" yaw="{yaw}" heading_tol="{heading_tol}" x_y_pos_tol="{x_y_pos_tol}" update_goal="{update_goal}"/>