diff --git a/launch/test.launch b/launch/test.launch
index 70ed693..93f02e2 100644
--- a/launch/test.launch
+++ b/launch/test.launch
@@ -7,7 +7,9 @@
     <include file="$(find emcl_ros)/launch/emcl.launch">
         <arg name="use_cloud" value="$(arg use_cloud)"/>
     </include>
-    <include file="$(find scan_to_pcl_ros)/launch/scan_to_pcl.launch" if="$(arg use_cloud)"/>
+    <include file="$(find scan_to_pcl_ros)/launch/scan_to_pcl.launch" if="$(arg use_cloud)">
+        <arg name="frame_id" default="base_footprint"/>
+    </include>
 
     <include file="$(find turtlebot3_gazebo)/launch/turtlebot3_world.launch"/>
     <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch"/>