diff --git a/src/ur_ros_wrapper.cpp b/src/ur_ros_wrapper.cpp
index 24d805e..c95aa6b 100644
--- a/src/ur_ros_wrapper.cpp
+++ b/src/ur_ros_wrapper.cpp
@@ -618,7 +618,7 @@ private:
             std::vector<double> tcp_speed =
                     robot_.rt_interface_->robot_state_->getTcpSpeedActual();
             geometry_msgs::TwistStamped tool_twist;
-            tool_twist.header.frame_id = tool_frame_;
+            tool_twist.header.frame_id = base_frame_;
             tool_twist.header.stamp = joint_msg.header.stamp;
             tool_twist.twist.linear.x = tcp_speed[0];
             tool_twist.twist.linear.y = tcp_speed[1];