diff --git a/kobuki_ws/src/kobuki_ros/kobuki_description/urdf/kobuki_gazebo.urdf.xacro b/kobuki_ws/src/kobuki_ros/kobuki_description/urdf/kobuki_gazebo.urdf.xacro
index 99bcea8a..a71bbc44 100644
--- a/kobuki_ws/src/kobuki_ros/kobuki_description/urdf/kobuki_gazebo.urdf.xacro
+++ b/kobuki_ws/src/kobuki_ros/kobuki_description/urdf/kobuki_gazebo.urdf.xacro
@@ -193,7 +193,7 @@
         <publish_wheel_tf>true</publish_wheel_tf>
         <odometry_topic>odom</odometry_topic>
         <odometry_frame>odom</odometry_frame>
-        <robot_base_frame>base_link</robot_base_frame>
+        <robot_base_frame>base_footprint</robot_base_frame>
 	    </plugin>
 	  </gazebo>
   </xacro:macro>