diff --git a/launch/vins_republisher_openvins_bluefox.launch b/launch/vins_republisher_openvins_bluefox.launch
index a97047b..097e529 100644
--- a/launch/vins_republisher_openvins_bluefox.launch
+++ b/launch/vins_republisher_openvins_bluefox.launch
@@ -5,9 +5,9 @@
   <arg name="camera_pitch" default="0.0"/>
 
   <arg name="mrs_vins_world_frame" default="$(arg UAV_NAME)/mrs_vins_world"/>
-  <arg name="vins_world_frame" default="global"/>
+  <arg name="vins_world_frame" default="$(arg UAV_NAME)/ov_global"/>
   <arg name="fcu_frame" default="$(arg UAV_NAME)/fcu"/>
-  <arg name="vins_fcu_frame" default="imu"/>
+  <arg name="vins_fcu_frame" default="$(arg UAV_NAME)/ov_imu"/>
   <arg name="vins_fcu_front_frame" default="$(arg UAV_NAME)/vins_body_front"/>
 
   <!-- will it run using GNU debugger? -->
diff --git a/launch/vins_republisher_openvins_mavros.launch b/launch/vins_republisher_openvins_mavros.launch
index f917001..7279c31 100644
--- a/launch/vins_republisher_openvins_mavros.launch
+++ b/launch/vins_republisher_openvins_mavros.launch
@@ -5,9 +5,9 @@
   <arg name="camera_pitch" default="0.0"/>
 
   <arg name="mrs_vins_world_frame" default="$(arg UAV_NAME)/mrs_vins_world"/>
-  <arg name="vins_world_frame" default="global"/>
+  <arg name="vins_world_frame" default="$(arg UAV_NAME)/ov_global"/>
   <arg name="fcu_frame" default="$(arg UAV_NAME)/fcu"/>
-  <arg name="vins_fcu_frame" default="imu"/>
+  <arg name="vins_fcu_frame" default="$(arg UAV_NAME)/ov_imu"/>
   <arg name="vins_fcu_front_frame" default="$(arg UAV_NAME)/vins_body_front"/>
 
   <!-- will it run using GNU debugger? -->
diff --git a/launch/vins_republisher_openvins_oak.launch b/launch/vins_republisher_openvins_oak.launch
index 30fffc4..6e1b83f 100644
--- a/launch/vins_republisher_openvins_oak.launch
+++ b/launch/vins_republisher_openvins_oak.launch
@@ -5,9 +5,9 @@
   <arg name="camera_pitch" default="0.0"/>
 
   <arg name="mrs_vins_world_frame" default="$(arg UAV_NAME)/mrs_vins_world"/>
-  <arg name="vins_world_frame" default="global"/>
+  <arg name="vins_world_frame" default="$(arg UAV_NAME)/ov_global"/>
   <arg name="fcu_frame" default="$(arg UAV_NAME)/fcu"/>
-  <arg name="vins_fcu_frame" default="imu"/>
+  <arg name="vins_fcu_frame" default="$(arg UAV_NAME)/ov_imu"/>
   <arg name="vins_fcu_front_frame" default="$(arg UAV_NAME)/vins_body_front"/>
 
   <!-- will it run using GNU debugger? -->
diff --git a/launch/vins_republisher_openvins_robofly.launch b/launch/vins_republisher_openvins_robofly.launch
index 204015b..aaa08f7 100644
--- a/launch/vins_republisher_openvins_robofly.launch
+++ b/launch/vins_republisher_openvins_robofly.launch
@@ -5,9 +5,9 @@
   <arg name="camera_pitch" default="0.0"/>
 
   <arg name="mrs_vins_world_frame" default="$(arg UAV_NAME)/mrs_vins_world"/>
-  <arg name="vins_world_frame" default="global"/>
+  <arg name="vins_world_frame" default="$(arg UAV_NAME)/ov_global"/>
   <arg name="fcu_frame" default="$(arg UAV_NAME)/fcu"/>
-  <arg name="vins_fcu_frame" default="imu"/>
+  <arg name="vins_fcu_frame" default="$(arg UAV_NAME)/ov_imu"/>
   <arg name="vins_fcu_front_frame" default="$(arg UAV_NAME)/vins_body_front"/>
 
   <!-- will it run using GNU debugger? -->
diff --git a/launch/vins_republisher_openvins_t265.launch b/launch/vins_republisher_openvins_t265.launch
index b04b547..5f096b2 100644
--- a/launch/vins_republisher_openvins_t265.launch
+++ b/launch/vins_republisher_openvins_t265.launch
@@ -5,9 +5,9 @@
   <arg name="camera_pitch" default="0.0"/>
 
   <arg name="mrs_vins_world_frame" default="$(arg UAV_NAME)/mrs_vins_world"/>
-  <arg name="vins_world_frame" default="global"/>
+  <arg name="vins_world_frame" default="$(arg UAV_NAME)/ov_global"/>
   <arg name="fcu_frame" default="$(arg UAV_NAME)/fcu"/>
-  <arg name="vins_fcu_frame" default="imu"/>
+  <arg name="vins_fcu_frame" default="$(arg UAV_NAME)/ov_imu"/>
   <arg name="vins_fcu_front_frame" default="$(arg UAV_NAME)/vins_body_front"/>
 
   <!-- will it run using GNU debugger? -->
diff --git a/launch/vins_republisher_openvins_unreal.launch b/launch/vins_republisher_openvins_unreal.launch
index 204015b..aaa08f7 100644
--- a/launch/vins_republisher_openvins_unreal.launch
+++ b/launch/vins_republisher_openvins_unreal.launch
@@ -5,9 +5,9 @@
   <arg name="camera_pitch" default="0.0"/>
 
   <arg name="mrs_vins_world_frame" default="$(arg UAV_NAME)/mrs_vins_world"/>
-  <arg name="vins_world_frame" default="global"/>
+  <arg name="vins_world_frame" default="$(arg UAV_NAME)/ov_global"/>
   <arg name="fcu_frame" default="$(arg UAV_NAME)/fcu"/>
-  <arg name="vins_fcu_frame" default="imu"/>
+  <arg name="vins_fcu_frame" default="$(arg UAV_NAME)/ov_imu"/>
   <arg name="vins_fcu_front_frame" default="$(arg UAV_NAME)/vins_body_front"/>
 
   <!-- will it run using GNU debugger? -->