diff --git a/src/ezbot_robot/description/robot_core.xacro b/src/ezbot_robot/description/robot_core.xacro
index ad8906a..4fa97b2 100644
--- a/src/ezbot_robot/description/robot_core.xacro
+++ b/src/ezbot_robot/description/robot_core.xacro
@@ -26,7 +26,6 @@
     </material>
 
     <link name="base_link">
-
     </link>
 
     <!--Chassis-->
@@ -41,8 +40,8 @@
     </link>
 
     <joint name= "base_footprint_joint" type="fixed">
-        <parent link="base_link"/>
-        <child link="base_footprint"/>
+        <parent link="base_footprint"/>
+        <child link="base_link"/>
         <origin xyz="0 0 0"/>
     </joint>