diff --git a/stretch_navigation/config/global_costmap_params_nomap.yaml b/stretch_navigation/config/global_costmap_params_nomap.yaml
index be43dbf..aa3c7fd 100644
--- a/stretch_navigation/config/global_costmap_params_nomap.yaml
+++ b/stretch_navigation/config/global_costmap_params_nomap.yaml
@@ -1,5 +1,5 @@
 global_costmap:
   global_frame: map
-  robot_base_frame: base_link
+  robot_base_frame: centered_base_link
   update_frequency: 5.0
   static_map: false
diff --git a/stretch_navigation/config/global_costmap_params_withmap.yaml b/stretch_navigation/config/global_costmap_params_withmap.yaml
index 8cf38e4..8d45327 100644
--- a/stretch_navigation/config/global_costmap_params_withmap.yaml
+++ b/stretch_navigation/config/global_costmap_params_withmap.yaml
@@ -1,5 +1,5 @@
 global_costmap:
   global_frame: map
-  robot_base_frame: base_link
+  robot_base_frame: centered_base_link
   update_frequency: 5.0
   static_map: true
diff --git a/stretch_navigation/config/local_costmap_params.yaml b/stretch_navigation/config/local_costmap_params.yaml
index eaa0c32..17e953d 100644
--- a/stretch_navigation/config/local_costmap_params.yaml
+++ b/stretch_navigation/config/local_costmap_params.yaml
@@ -1,6 +1,6 @@
 local_costmap:
   global_frame: map
-  robot_base_frame: base_link
+  robot_base_frame: centered_base_link
   update_frequency: 5.0
   publish_frequency: 2.0
   static_map: false
diff --git a/stretch_navigation/launch/navigation.launch b/stretch_navigation/launch/navigation.launch
index 1aa359a..30e9221 100644
--- a/stretch_navigation/launch/navigation.launch
+++ b/stretch_navigation/launch/navigation.launch
@@ -8,6 +8,9 @@
   <param name="/stretch_driver/mode" type="string" value="navigation" />
   <include file="$(find stretch_core)/launch/stretch_driver.launch" pass_all_args="true"/>
 
+  <!-- CENTERED BASE LINK -->
+  <node name="centered_base_link_tf_publisher" pkg="tf" type="static_transform_publisher" args="-0.1 0 0 0 0 0 1 /base_link /centered_base_link 100" />
+
   <!-- LASER RANGE FINDER -->
   <include file="$(find stretch_core)/launch/rplidar.launch" />