diff --git a/scout_base/include/scout_base/scout_messenger.hpp b/scout_base/include/scout_base/scout_messenger.hpp
index 498e381..a659546 100644
--- a/scout_base/include/scout_base/scout_messenger.hpp
+++ b/scout_base/include/scout_base/scout_messenger.hpp
@@ -30,6 +30,7 @@ public:
 
     std::string odom_frame_;
     std::string base_frame_;
+    std::string odom_topic_name_;
 
     bool simulated_robot_ = false;
     int sim_control_rate_ = 50;
diff --git a/scout_base/launch/scout_base.launch b/scout_base/launch/scout_base.launch
index a860415..51a1c3d 100644
--- a/scout_base/launch/scout_base.launch
+++ b/scout_base/launch/scout_base.launch
@@ -11,7 +11,8 @@
     -->
     <arg name="port_name" default="can0" />
     <arg name="simulated_robot" default="false" />
-    <arg name = "model_xacro" default = "$(find scout_base)/description/scout_v2.xacro" />>
+    <arg name = "model_xacro" default = "$(find scout_base)/description/scout_v2.xacro" />
+    <arg name ="odom_topic_name" default = "odom"/>
 
     <node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
         <param name="port_name" type="string" value="$(arg port_name)" />
@@ -19,6 +20,7 @@
 
         <param name="odom_frame" type="string" value="odom" />
         <param name="base_frame" type="string" value="base_link" />
+        <param name = "odom_topic_name" type="string" value="$(arg odom_topic_name)" />
     </node>
     <param name="robot_description" command="$(find xacro)/xacro $(arg model_xacro)"/>
     <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
diff --git a/scout_base/src/scout_base_node.cpp b/scout_base/src/scout_base_node.cpp
index 4b30af7..f59b337 100644
--- a/scout_base/src/scout_base_node.cpp
+++ b/scout_base/src/scout_base_node.cpp
@@ -27,6 +27,8 @@ int main(int argc, char **argv) {
   private_node.param<bool>("simulated_robot", messenger.simulated_robot_,
                            false);
   private_node.param<int>("control_rate", messenger.sim_control_rate_, 50);
+  private_node.param<std::string>("odom_topic_name", messenger.odom_topic_name_,
+                                  std::string("odom"));
 
   if (!messenger.simulated_robot_) {
     // connect to robot and setup ROS subscription
diff --git a/scout_base/src/scout_messenger.cpp b/scout_base/src/scout_messenger.cpp
index 426f5db..3e850ed 100644
--- a/scout_base/src/scout_messenger.cpp
+++ b/scout_base/src/scout_messenger.cpp
@@ -24,7 +24,7 @@ ScoutROSMessenger::ScoutROSMessenger(ScoutBase *scout, ros::NodeHandle *nh)
 
 void ScoutROSMessenger::SetupSubscription() {
   // odometry publisher
-  odom_publisher_ = nh_->advertise<nav_msgs::Odometry>(odom_frame_, 50);
+  odom_publisher_ = nh_->advertise<nav_msgs::Odometry>(odom_topic_name_, 50);
   status_publisher_ =
       nh_->advertise<scout_msgs::ScoutStatus>("/scout_status", 10);
 
@@ -239,7 +239,7 @@ void ScoutROSMessenger::PublishOdometryToROS(double linear, double angular,
   // publish odometry and tf messages
   nav_msgs::Odometry odom_msg;
   odom_msg.header.stamp = current_time_;
-  odom_msg.header.frame_id = odom_frame_;
+  odom_msg.header.frame_id = "testes";
   odom_msg.child_frame_id = base_frame_;
 
   odom_msg.pose.pose.position.x = position_x_;