diff --git a/clever/launch/main_camera.launch b/clever/launch/main_camera.launch
index 19a865f1..b64d7f1b 100644
--- a/clever/launch/main_camera.launch
+++ b/clever/launch/main_camera.launch
@@ -26,7 +26,6 @@
 
     <!-- camera visualization markers -->
     <node pkg="clever" type="camera_markers" ns="main_camera" name="main_camera_markers">
-        <param name="frame_id" value="main_camera_optical"/>
         <param name="scale" value="3.0"/>
     </node>
 </launch>
diff --git a/clever/src/camera_markers.cpp b/clever/src/camera_markers.cpp
index a55b36a2..e5edb2d2 100644
--- a/clever/src/camera_markers.cpp
+++ b/clever/src/camera_markers.cpp
@@ -9,6 +9,7 @@
 
 #include <string>
 #include <ros/ros.h>
+#include <sensor_msgs/CameraInfo.h>
 #include <visualization_msgs/Marker.h>
 #include <visualization_msgs/MarkerArray.h>
 
@@ -81,12 +82,15 @@ MarkerArray createMarkers() {
 
 int main(int argc, char **argv)
 {
-	ros::init(argc, argv, "camera_markers");
+	ros::init(argc, argv, "camera_markers", ros::init_options::AnonymousName);
 	ros::NodeHandle nh, nh_priv("~");
 
-	nh_priv.param<std::string>("frame_id", camera_frame, "main_camera_optical");
 	nh_priv.param("scale", markers_scale, 1.0);
 
+	// wait for camera info
+	auto camera_info = ros::topic::waitForMessage<sensor_msgs::CameraInfo>("camera_info", nh);
+	camera_frame = camera_info->header.frame_id;
+
 	ros::Publisher markers_pub = nh.advertise<visualization_msgs::MarkerArray>("camera_markers", 1, true);
 	markers_pub.publish(createMarkers());