diff --git a/lbr_bringup/config/moveit_servo.yaml b/lbr_bringup/config/moveit_servo.yaml
index 9d292fba..123c1acd 100644
--- a/lbr_bringup/config/moveit_servo.yaml
+++ b/lbr_bringup/config/moveit_servo.yaml
@@ -40,11 +40,11 @@
 
       ## MoveIt properties
       move_group_name: arm # Often 'manipulator' or 'arm'
-      planning_frame: link_0 # The MoveIt planning frame. Often 'base_link' or 'world'
+      planning_frame: lbr_link_0 # The MoveIt planning frame. Often 'base_link' or 'world'
 
       ## Other frames
-      ee_frame_name: link_ee # The name of the end effector link, used to return the EE pose
-      robot_link_command_frame: link_0 # commands must be given in the frame of a robot link. Usually either the base or end effector
+      ee_frame_name: lbr_link_ee # The name of the end effector link, used to return the EE pose
+      robot_link_command_frame: lbr_link_0 # commands must be given in the frame of a robot link. Usually either the base or end effector
 
       ## Stopping behaviour
       incoming_command_timeout: 0.1 # Stop servoing if X seconds elapse without a new command