diff --git a/position_trajectory_controller/launch/position_trajectory_controller.launch.xml b/position_trajectory_controller/launch/position_trajectory_controller.launch.xml
index 7766d84..1e4dd82 100644
--- a/position_trajectory_controller/launch/position_trajectory_controller.launch.xml
+++ b/position_trajectory_controller/launch/position_trajectory_controller.launch.xml
@@ -4,6 +4,10 @@
     <group>
         <push-ros-namespace namespace="$(var vehicle_namespace)"/>
         <node name="trajectory_handler" pkg="position_trajectory_controller" exec="trajectory_handler" output="screen" respawn="true"/>
+            <param name="frame_id" value="map"/>
+            <param name="setpoint_frame_id" value="$(var vehicle_namespace)/setpoint"/>
+            <param name="vehicle_frame_id" value="$(var vehicle_namespace)/body"/>
+        </node>
     </group>
 
 </launch>
\ No newline at end of file