diff --git a/stretch_core/launch/stretch_scan_matcher.launch b/stretch_core/launch/stretch_scan_matcher.launch
index dd1f31d..ba343ce 100644
--- a/stretch_core/launch/stretch_scan_matcher.launch
+++ b/stretch_core/launch/stretch_scan_matcher.launch
@@ -6,8 +6,8 @@
     <remap from="scan" to="scan_filtered"/>
     
     <param name="max_iterations" value="10"/>
-    <param name="fixed_frame" value="map"/>
-    <!-- <param name="fixed_frame" value="odom"/> -->
+    <!-- <param name="fixed_frame" value="map"/> -->
+    <param name="fixed_frame" value="odom"/>
 
     <!-- "Maximum angular displacement between scans, in degrees" -->
     <!--<param name="max_angular_correction_deg" value="45.0"/>-->