diff --git a/clever/src/vpe_publisher.cpp b/clever/src/vpe_publisher.cpp
index 109b3f8e..31cbdccb 100644
--- a/clever/src/vpe_publisher.cpp
+++ b/clever/src/vpe_publisher.cpp
@@ -113,9 +113,9 @@ int main(int argc, char **argv) {
 	tf2_ros::TransformListener tf_listener(tf_buffer);
 
 	nh_priv.param<string>("frame_id", frame_id, "");
-	nh_priv.param<string>("child_frame_id", child_frame_id, "");
-	nh_priv.param<string>("mavros/local_position/frame_id", local_frame_id, "map");
 	nh_priv.param<string>("offset_frame_id", offset_frame_id, "");
+	nh_priv.param<string>("mavros/local_position/frame_id", local_frame_id, "map");
+	nh_priv.param<string>("mavros/local_position/tf/child_frame_id", child_frame_id, "base_link");
 	offset_timeout = ros::Duration(nh_priv.param("offset_timeout", 5.0));
 
 	if (!frame_id.empty()) {