diff --git a/urdf/realsense.gazebo b/urdf/realsense.gazebo
index b822728341bdf1972ddce5f1367bed75551bd3ce..ab7815f4ed99b6ab4d2a4f30c4306c783114c458 100644
--- a/urdf/realsense.gazebo
+++ b/urdf/realsense.gazebo
@@ -32,7 +32,8 @@
           <alwaysOn>true</alwaysOn>
           <updateRate>${properties['rate']}</updateRate>
           <cameraName>${name}</cameraName>
-          <frameName>${name}_color_optical_frame</frameName>
+          <!--<frameName>${name}_color_optical_frame</frameName>-->
+          <frameName>${properties['frame_name']}</frameName>
           <imageTopicName>${properties['image_topic_name']}</imageTopicName>
           <cameraInfoTopicName>${properties['camera_info_topic_name']}</cameraInfoTopicName>
           <depthImageTopicName>${properties['depth_image_topic_name']}</depthImageTopicName>