diff --git a/src/roboglue_ros/src/roboglue_recorder.cpp b/src/roboglue_ros/src/roboglue_recorder.cpp
index 78f66b0..9d8c8f9 100644
--- a/src/roboglue_ros/src/roboglue_recorder.cpp
+++ b/src/roboglue_ros/src/roboglue_recorder.cpp
@@ -329,7 +329,7 @@ int main(int argc, char **argv) {
     ROS_INFO("IK calc in Frame: %s", robot_data.kine_model->getModelFrame().c_str());
 
     /// setup rviz palnned path visualization
-    rviz_data.vtools = std::make_shared<mvt::MoveItVisualTools>("base_link", "rviz_visual_tools", robot_data.kine_model);
+    rviz_data.vtools = std::make_shared<mvt::MoveItVisualTools>("world", "rviz_visual_tools", robot_data.kine_model);
 
     bool startCycle = true;
     while (ros::ok() && is.isRunning){
@@ -365,6 +365,7 @@ int main(int argc, char **argv) {
             frameRot.setRPY(0,0,0);
             planningFrame.setRotation(frameRot);
             tfBroadcaster.sendTransform(tf::StampedTransform(planningFrame, ros::Time::now(), "world", "planning_frame"));
+            rviz_data.vtools->setBaseFrame("planning_frame");
         }
         move_group.setPoseReferenceFrame("planning_frame");