diff --git a/talos_description/gazebo/gazebo.urdf.xacro b/talos_description/gazebo/gazebo.urdf.xacro
index c4025003c039e1fa242b15f018cc3e733d0dd24c..8e727288d6aa2b4836f965815a450feafc1e301f 100644
--- a/talos_description/gazebo/gazebo.urdf.xacro
+++ b/talos_description/gazebo/gazebo.urdf.xacro
@@ -12,7 +12,7 @@
 
   <gazebo>
     <plugin filename="libgazebo_world_odometry.so" name="gazebo_ros_odometry">
-      <frameName>torso_2_link</frameName>
+      <frameName>base_link</frameName>
       <topicName>floating_base_pose_simulated</topicName>
     </plugin>
   </gazebo>