diff --git a/launch/vins_republisher.launch b/launch/vins_republisher.launch
index fbb25e6..be78eed 100644
--- a/launch/vins_republisher.launch
+++ b/launch/vins_republisher.launch
@@ -27,8 +27,6 @@
   <group ns="$(arg UAV_NAME)">
 
       <!-- ================= Static transformations ================= -->
-    <!-- TF between the VINS world frame and MRS VINS world frame -->
-    <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_to_vins_origin" args="0.0 0.0 0.0 1.5708 0.0 0.0 $(arg vins_world_frame) $(arg mrs_vins_world_frame)" /> -->
 
     <!-- TF between the FCU of the UAV and the VINS body (IMU) frame -->
     <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_fcu_to_mrs_fcu" args="0.085 0.0 0.13 -1.5708 0.0 -1.5708 $(arg fcu_frame) $(arg vins_fcu_front_frame)" />
diff --git a/launch/vins_republisher_bluefox_down.launch b/launch/vins_republisher_bluefox_down.launch
index 4d5370f..8a4925f 100644
--- a/launch/vins_republisher_bluefox_down.launch
+++ b/launch/vins_republisher_bluefox_down.launch
@@ -27,8 +27,6 @@
   <group ns="$(arg UAV_NAME)">
 
       <!-- ================= Static transformations ================= -->
-    <!-- TF between the VINS world frame and MRS VINS world frame -->
-    <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_to_vins_origin" args="0.0 0.0 0.0 1.5708 0.0 0.0 $(arg vins_world_frame) $(arg mrs_vins_world_frame)" />
 
     <!-- TF between the FCU of the UAV and the VINS body (IMU) frame -->
     <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_fcu_to_mrs_fcu" args="0.1 0.0 -0.15 -1.5708 0.0 -1.5708 $(arg fcu_frame) $(arg vins_fcu_front_frame)" />
@@ -43,7 +41,7 @@
 
       <param name="uav_name" value="$(arg UAV_NAME)"/>
       <!-- set to true if velocity is defined in the IMU frame -->
-      <param name="rotate_velocity" value="false"/>
+      <param name="velocity_in_body_frame" value="false"/>
 
       <remap from="~vins_odom_in" to="vins_estimator/imu_propagate"/>
       <remap from="~vins_odom_out" to="~odom"/>
diff --git a/launch/vins_republisher_openvins_bluefox.launch b/launch/vins_republisher_openvins_bluefox.launch
index 3da465c..a97047b 100644
--- a/launch/vins_republisher_openvins_bluefox.launch
+++ b/launch/vins_republisher_openvins_bluefox.launch
@@ -27,13 +27,9 @@
   <group ns="$(arg UAV_NAME)">
 
       <!-- ================= Static transformations ================= -->
-    <!-- TF between the VINS world frame and MRS VINS world frame -->
-    <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_to_vins_origin" args="0.0 0.0 0.0 1.5708 0.0 0.0 $(arg vins_world_frame) $(arg mrs_vins_world_frame)" /> -->
-    <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_to_vins_origin" args="0.0 0.0 0.0 3.1415926535 0.0 0.0 $(arg vins_world_frame) $(arg mrs_vins_world_frame)" /> -->
 
     <!-- TF between the FCU of the UAV and the VINS body (IMU) frame -->
     <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_fcu_to_mrs_fcu" args="0.085 0.0 0.13 -1.5708 0.0 -1.5708 $(arg fcu_frame) $(arg vins_fcu_front_frame)" />
-    <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_fcu_to_mrs_fcu" args="0.1 0.0 -0.15 -1.5708 0.0 0.0 $(arg fcu_frame) $(arg vins_fcu_front_frame)" /> -->
 
     <!-- TF for variable pitch of the camera -->
     <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_fcu_to_mrs_fcu2" args="0 0 0 0 0 $(arg camera_pitch) $(arg vins_fcu_front_frame) $(arg vins_fcu_frame)" />
diff --git a/launch/vins_republisher_openvins_mavros.launch b/launch/vins_republisher_openvins_mavros.launch
index e8463bd..f917001 100644
--- a/launch/vins_republisher_openvins_mavros.launch
+++ b/launch/vins_republisher_openvins_mavros.launch
@@ -27,13 +27,9 @@
   <group ns="$(arg UAV_NAME)">
 
       <!-- ================= Static transformations ================= -->
-    <!-- TF between the VINS world frame and MRS VINS world frame -->
-    <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_to_vins_origin" args="0.0 0.0 0.0 1.5708 0.0 0.0 $(arg vins_world_frame) $(arg mrs_vins_world_frame)" /> -->
-    <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_to_vins_origin" args="0.0 0.0 0.0 3.1415926535 0.0 0.0 $(arg vins_world_frame) $(arg mrs_vins_world_frame)" /> -->
 
     <!-- TF between the FCU of the UAV and the VINS body (IMU) frame -->
     <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_fcu_to_mrs_fcu" args="0.085 0.0 0.13 0 0.0 0 $(arg fcu_frame) $(arg vins_fcu_front_frame)" />
-    <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_fcu_to_mrs_fcu" args="0.1 0.0 -0.15 -1.5708 0.0 0.0 $(arg fcu_frame) $(arg vins_fcu_front_frame)" /> -->
 
     <!-- TF for variable pitch of the camera -->
     <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_fcu_to_mrs_fcu2" args="0 0 0 0 0 $(arg camera_pitch) $(arg vins_fcu_front_frame) $(arg vins_fcu_frame)" />
diff --git a/launch/vins_republisher_openvins_oak.launch b/launch/vins_republisher_openvins_oak.launch
index c1d2e91..30fffc4 100644
--- a/launch/vins_republisher_openvins_oak.launch
+++ b/launch/vins_republisher_openvins_oak.launch
@@ -27,9 +27,6 @@
   <group ns="$(arg UAV_NAME)">
 
       <!-- ================= Static transformations ================= -->
-    <!-- TF between the VINS world frame and MRS VINS world frame -->
-    <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_to_vins_origin" args="0.0 0.0 0.0 -1.5708 0.0 0.0 $(arg vins_world_frame) $(arg mrs_vins_world_frame)" /> -->
-    <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_to_vins_origin" args="0.0 0.0 0.0 0.0 0.0 0.0 $(arg vins_world_frame) $(arg mrs_vins_world_frame)" />
 
     <!-- TF between the FCU of the UAV and the VINS body (IMU) frame -->
     <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_fcu_to_mrs_fcu" args="0.067 0.0 -0.33 3.1415 1.5708 0.0 $(arg fcu_frame) $(arg vins_fcu_front_frame)" />
@@ -46,7 +43,7 @@
       <param name="uav_name" value="$(arg UAV_NAME)"/>
 
       <!-- set to true if velocity is defined in the IMU frame -->
-      <param name="rotate_velocity" value="true"/>
+      <param name="velocity_in_body_frame" value="true"/>
 
       <remap from="~vins_odom_in" to="ov_msckf/odomimu"/>
       <remap from="~vins_odom_out" to="~odom"/>
diff --git a/launch/vins_republisher_openvins_t265.launch b/launch/vins_republisher_openvins_t265.launch
index b95f7dc..b04b547 100644
--- a/launch/vins_republisher_openvins_t265.launch
+++ b/launch/vins_republisher_openvins_t265.launch
@@ -27,9 +27,6 @@
   <group ns="$(arg UAV_NAME)">
 
       <!-- ================= Static transformations ================= -->
-    <!-- TF between the VINS world frame and MRS VINS world frame -->
-    <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_to_vins_origin" args="0.0 0.0 0.0 -1.5708 0.0 0.0 $(arg vins_world_frame) $(arg mrs_vins_world_frame)" />
-    <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_to_vins_origin" args="0.0 0.0 0.0 0.0 0.0 0.0 $(arg vins_world_frame) $(arg mrs_vins_world_frame)" /> -->
 
     <!-- TF between the FCU of the UAV and the VINS body (IMU) frame -->
     <node pkg="tf2_ros" type="static_transform_publisher" name="tf_vins_fcu_to_mrs_fcu" args="0.085 0.0 0.13 1.5708 0.0 1.5708 $(arg fcu_frame) $(arg vins_fcu_front_frame)" />
@@ -45,7 +42,7 @@
       <param name="uav_name" value="$(arg UAV_NAME)"/>
 
       <!-- set to true if velocity is defined in the IMU frame -->
-      <param name="rotate_velocity" value="true"/>
+      <param name="velocity_in_body_frame" value="true"/>
 
       <remap from="~vins_odom_in" to="ov_msckf/odomimu"/>
       <remap from="~vins_odom_out" to="~odom"/>