diff --git a/src/igvc_description/urdf/robot.urdf.xacro b/src/igvc_description/urdf/robot.urdf.xacro
index fdf462af..89cdcfd9 100644
--- a/src/igvc_description/urdf/robot.urdf.xacro
+++ b/src/igvc_description/urdf/robot.urdf.xacro
@@ -4,14 +4,22 @@
     <xacro:arg name="use_mock_hardware" default="false" />
 
     <link name="base_footprint"/>
+    <link name="base_link"/>
 
     <joint name="base_joint" type="fixed">
-        <parent link="base_footprint"/>
+        <parent link="base_link"/>
         <origin rpy="0 0 0" xyz="0 0 0.01"/>
         <child link="part_1"/>
         <axis xyz="0 0 1"/>
     </joint>
 
+    <joint name="footprint_joint" type="fixed">
+        <parent link="base_link"/>
+        <origin rpy="0 0 0" xyz="0 0 0.01"/>
+        <child link="base_footprint"/>
+        <axis xyz="0 0 1"/>
+    </joint>
+	
     <xacro:include filename="$(find igvc_description)/urdf/model.urdf.xacro"/>
     <xacro:include filename="$(find igvc_description)/urdf/sensors.urdf.xacro"/>
 
diff --git a/src/igvc_description/urdf/sensor/camera.urdf.xacro b/src/igvc_description/urdf/sensor/camera.urdf.xacro
index adb11647..9cd82e80 100644
--- a/src/igvc_description/urdf/sensor/camera.urdf.xacro
+++ b/src/igvc_description/urdf/sensor/camera.urdf.xacro
@@ -14,7 +14,7 @@
     <xacro:include filename="$(find depthai_descriptions)/urdf/depthai_descr.urdf.xacro" />
 
     <joint name="camera_base_joint" type="fixed">
-        <parent link="base_footprint"/>
+        <parent link="base_link"/>
         <child link="oak_parent"/>
         <origin xyz="-0.05 -0.05 0.95" rpy="0 0 ${pi/2}"/>
     </joint>
diff --git a/src/igvc_description/urdf/sensor/gps.urdf.xacro b/src/igvc_description/urdf/sensor/gps.urdf.xacro
index 620efe6d..2fed30fc 100644
--- a/src/igvc_description/urdf/sensor/gps.urdf.xacro
+++ b/src/igvc_description/urdf/sensor/gps.urdf.xacro
@@ -2,7 +2,7 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
     <joint name="navsat_joint" type="fixed">
         <origin xyz="0 0 0" rpy="0 0 0" />
-        <parent link="base_footprint"/>
+        <parent link="base_link"/>
         <child link="navsat_link" />
     </joint>
 
diff --git a/src/igvc_description/urdf/sensor/imu.urdf.xacro b/src/igvc_description/urdf/sensor/imu.urdf.xacro
index 2cf6f2ff..9f2613ea 100644
--- a/src/igvc_description/urdf/sensor/imu.urdf.xacro
+++ b/src/igvc_description/urdf/sensor/imu.urdf.xacro
@@ -2,7 +2,7 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
     <joint name="imu_joint" type="fixed">
         <origin xyz="0 0 0" rpy="0 0 0" />
-        <parent link="base_footprint"/>
+        <parent link="base_link"/>
         <child link="imu_link" />
         </joint>
 
diff --git a/src/igvc_description/urdf/sensor/lidar.urdf.xacro b/src/igvc_description/urdf/sensor/lidar.urdf.xacro
index 2354547f..e45f5cd1 100644
--- a/src/igvc_description/urdf/sensor/lidar.urdf.xacro
+++ b/src/igvc_description/urdf/sensor/lidar.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
     <joint name="laser_joint" type="fixed">
-        <parent link="base_footprint"/>
+        <parent link="base_link"/>
         <child link="laser_frame"/>
         <origin xyz="-0.05 0.605 0.50" rpy="0 0 0"/>
     </joint>
diff --git a/src/igvc_nav/config/nav2_params.yaml b/src/igvc_nav/config/nav2_params.yaml
index 32973563..613f4d1b 100644
--- a/src/igvc_nav/config/nav2_params.yaml
+++ b/src/igvc_nav/config/nav2_params.yaml
@@ -313,7 +313,7 @@ velocity_smoother:
 
 collision_monitor:
   ros__parameters:
-    base_frame_id: "base_footprint"
+    base_frame_id: "base_link"
     odom_frame_id: "odom"
     cmd_vel_in_topic: "cmd_vel_smoothed"
     cmd_vel_out_topic: "cmd_vel"
diff --git a/src/igvc_slam/launch/rtabmap.launch.py b/src/igvc_slam/launch/rtabmap.launch.py
index 958ad292..8810a6e5 100644
--- a/src/igvc_slam/launch/rtabmap.launch.py
+++ b/src/igvc_slam/launch/rtabmap.launch.py
@@ -38,7 +38,7 @@ def generate_launch_description():
             'depth_topic' : '/camera/camera/aligned_depth_to_color/image_raw',
             'rgb_topic' : '/camera/camera/color/image_raw',
             'camera_info_topic' : '/camera/camera/color/camera_info',
-            'frame_id' : 'base_footprint',
+            'frame_id' : 'base_link',
             'publish_tf_odom' : 'true',
             'odom_topic' : '/odom',
             'odom_frame_id' : 'odom',
diff --git a/src/igvc_slam/launch/sim_rtabmap.launch.py b/src/igvc_slam/launch/sim_rtabmap.launch.py
index 41b3991f..31b40491 100644
--- a/src/igvc_slam/launch/sim_rtabmap.launch.py
+++ b/src/igvc_slam/launch/sim_rtabmap.launch.py
@@ -21,7 +21,7 @@ def generate_launch_description():
             'rgb_topic' : '/camera/camera/color/image_raw',
             'camera_info_topic' : '/camera/camera/depth/camera_info',
             'approx_sync' : 'true',
-            'frame_id' : 'base_footprint',
+            'frame_id' : 'base_link',
             'log_level' : 'debug', 
             'publish_tf_odom' : 'true',
             'odom_topic' : '/odom',