diff --git a/av_imu_launch/CHANGELOG.rst b/av_imu_launch/CHANGELOG.rst
index c17bab0..64eeb1d 100644
--- a/av_imu_launch/CHANGELOG.rst
+++ b/av_imu_launch/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package av_imu_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+* Use new IMU's frame id
+  - Based on the updated car description URDF (2.0.0)
+
+* Contributors: Hector Cruz
+
 2.0.0 (2024-10-23)
 ------------------
 * Add rear imu to launch
diff --git a/av_imu_launch/config/gx5_15_front.yaml b/av_imu_launch/config/gx5_15_front.yaml
index 84cd4d4..3854003 100644
--- a/av_imu_launch/config/gx5_15_front.yaml
+++ b/av_imu_launch/config/gx5_15_front.yaml
@@ -15,7 +15,7 @@
     use_enu_frame : True
 
     # Configure some frame IDs
-    frame_id : 'imu_fsp_r_mount'  # Frame ID of all of the filter messages. Represents the location of the CV7-INS in the tf tree
+    frame_id : 'imu_fsp_r_sensor'  # Frame ID of all of the filter messages. Represents the location of the CV7-INS in the tf tree
 
     # Disable the transform from the mount to frame id transform as it will be handled in the launch file
     publish_mount_to_frame_id_transform : False
diff --git a/av_imu_launch/config/gx5_15_rear.yaml b/av_imu_launch/config/gx5_15_rear.yaml
index 1ee557f..637aa01 100644
--- a/av_imu_launch/config/gx5_15_rear.yaml
+++ b/av_imu_launch/config/gx5_15_rear.yaml
@@ -15,7 +15,7 @@
     use_enu_frame : True
 
     # Configure some frame IDs
-    frame_id : 'imu_rear_mount'  # Frame ID of all of the filter messages. Represents the location of the CV7-INS in the tf tree
+    frame_id : 'imu_rear_sensor'  # Frame ID of all of the filter messages. Represents the location of the CV7-INS in the tf tree
 
     # Disable the transform from the mount to frame id transform as it will be handled in the launch file
     publish_mount_to_frame_id_transform : False