diff --git a/launch/nodelet.launch b/launch/nodelet.launch
index 646f23a..345dd04 100644
--- a/launch/nodelet.launch
+++ b/launch/nodelet.launch
@@ -112,7 +112,7 @@
   <node pkg="tf2_ros"
         type="static_transform_publisher"
         name="$(arg camera)_tf"
-        args="0 0 0 -1.5707963267948966 0 -1.5707963267948966 $(arg frame_id_base)_link $(arg frame_id_base)_optical_link"
+        args="0 0 0 -1.5707963267948966 0 -1.5707963267948966 $(arg frame_id_base) $(arg frame_id_base)_optical_link"
         respawn="$(arg respawn)" />
 
 </launch>
diff --git a/src/camera_nodelet.cpp b/src/camera_nodelet.cpp
index 1c1a7d8..f12f020 100644
--- a/src/camera_nodelet.cpp
+++ b/src/camera_nodelet.cpp
@@ -97,7 +97,7 @@ ifm3d_ros::CameraNodelet::onInit()
   this->xmlrpc_port_ = static_cast<std::uint16_t>(xmlrpc_port);
   this->schema_mask_ = static_cast<std::uint16_t>(schema_mask);
 
-  this->frame_id_ = frame_id_base + "_link";
+  this->frame_id_ = frame_id_base;
   this->optical_frame_id_ = frame_id_base + "_optical_link";
 
   //-------------------