diff --git a/launch/sensors.launch b/launch/sensors.launch
index 939224e..de313dd 100644
--- a/launch/sensors.launch
+++ b/launch/sensors.launch
@@ -209,11 +209,11 @@
 
       <!-- TF -->
     <group if="$(eval arg('UAV_TYPE') == 'x500')">
-      <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg livox_frame_slashless)" args=" 0.011 0.02329 0.07886 0 0.0 0.0 $(arg fcu_frame) $(arg livox_frame)" />
+      <node pkg="tf2_ros" type="static_transform_publisher" name="$(arg fcu_frame_slashless)_to_$(arg livox_frame_slashless)" args=" 0.0 0.0 0.09 0 0.0 0.0 $(arg fcu_frame) $(arg livox_frame)" />
     </group>
 
     <!-- The node -->
-    <include file="$(find livox_ros_driver2)/launch/msg_MID360.launch" />
+    <include file="$(find livox_ros_driver2)/launch/mid360.launch" />
 
   </group>