diff --git a/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp b/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
index de8ce424e2..f75482e8fe 100644
--- a/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
+++ b/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
@@ -259,6 +259,7 @@ geometry_msgs::msg::PoseStamped RotationShimController::getSampledPathGoal()
   }
 
   auto goal = current_path_.poses.back();
+  goal.header.frame_id = current_path_.header.frame_id;
   goal.header.stamp = clock_->now();
   return goal;
 }