diff --git a/src/ros/FindObjectROS.cpp b/src/ros/FindObjectROS.cpp
index e0c20b80..092ade9c 100644
--- a/src/ros/FindObjectROS.cpp
+++ b/src/ros/FindObjectROS.cpp
@@ -56,6 +56,8 @@ void FindObjectROS::publish(const find_object::DetectionInfo & info)
 	if(info.objDetected_.size() && !depth_.empty() && depthConstant_ != 0.0f)
 	{
 		std::vector<tf::StampedTransform> transforms;
+		char multiSubId = 'b';
+		int previousId = -1;
 		QMultiMap<int, QSize>::const_iterator iterSizes=info.objDetectedSizes_.constBegin();
 		for(QMultiMap<int, QTransform>::const_iterator iter=info.objDetected_.constBegin();
 			iter!=info.objDetected_.constEnd();
@@ -66,6 +68,17 @@ void FindObjectROS::publish(const find_object::DetectionInfo & info)
 			float objectWidth = iterSizes->width();
 			float objectHeight = iterSizes->height();
 
+			QString multiSuffix;
+			if(id == previousId)
+			{
+				multiSuffix = QString("_") + multiSubId++;
+			}
+			else
+			{
+				multiSubId = 'b';
+			}
+			previousId = id;
+
 			// Find center of the object
 			QPointF center = iter->map(QPointF(objectWidth/2, objectHeight/2));
 			QPointF xAxis = iter->map(QPointF(3*objectWidth/4, objectHeight/2));
@@ -92,7 +105,7 @@ void FindObjectROS::publish(const find_object::DetectionInfo & info)
 			{
 				tf::StampedTransform transform;
 				transform.setIdentity();
-				transform.child_frame_id_ = QString("%1_%2").arg(objFramePrefix_.c_str()).arg(id).toStdString();
+				transform.child_frame_id_ = QString("%1_%2%3").arg(objFramePrefix_.c_str()).arg(id).arg(multiSuffix).toStdString();
 				transform.frame_id_ = frameId_;
 				transform.stamp_ = stamp_;
 				transform.setOrigin(tf::Vector3(center3D.val[0], center3D.val[1], center3D.val[2]));
diff --git a/src/ros/tf_example_node.cpp b/src/ros/tf_example_node.cpp
index 3962adc9..73097a4c 100644
--- a/src/ros/tf_example_node.cpp
+++ b/src/ros/tf_example_node.cpp
@@ -51,11 +51,26 @@ public:
 	{
 		if(msg->objects.data.size())
 		{
+			char multiSubId = 'b';
+			int previousId = -1;
 			for(unsigned int i=0; i<msg->objects.data.size(); i+=12)
 			{
 				// get data
 				int id = (int)msg->objects.data[i];
-				std::string objectFrameId = QString("%1_%2").arg(objFramePrefix_.c_str()).arg(id).toStdString(); // "object_1", "object_2"
+
+				QString multiSuffix;
+				if(id == previousId)
+				{
+					multiSuffix = QString("_") + multiSubId++;
+				}
+				else
+				{
+					multiSubId = 'b';
+				}
+				previousId = id;
+
+				// "object_1", "object_1_b", "object_1_c", "object_2"
+				std::string objectFrameId = QString("%1_%2%3").arg(objFramePrefix_.c_str()).arg(id).arg(multiSuffix).toStdString();
 
 				tf::StampedTransform pose;
 				tf::StampedTransform poseCam;
@@ -73,12 +88,12 @@ public:
 				}
 
 				// Here "pose" is the position of the object "id" in "/map" frame.
-				ROS_INFO("Object_%d [x,y,z] [x,y,z,w] in \"%s\" frame: [%f,%f,%f] [%f,%f,%f,%f]",
-						id, mapFrameId_.c_str(),
+				ROS_INFO("%s [x,y,z] [x,y,z,w] in \"%s\" frame: [%f,%f,%f] [%f,%f,%f,%f]",
+						objectFrameId.c_str(), mapFrameId_.c_str(),
 						pose.getOrigin().x(), pose.getOrigin().y(), pose.getOrigin().z(),
 						pose.getRotation().x(), pose.getRotation().y(), pose.getRotation().z(), pose.getRotation().w());
-				ROS_INFO("Object_%d [x,y,z] [x,y,z,w] in \"%s\" frame: [%f,%f,%f] [%f,%f,%f,%f]",
-						id, msg->header.frame_id.c_str(),
+				ROS_INFO("%s [x,y,z] [x,y,z,w] in \"%s\" frame: [%f,%f,%f] [%f,%f,%f,%f]",
+						objectFrameId.c_str(), msg->header.frame_id.c_str(),
 						poseCam.getOrigin().x(), poseCam.getOrigin().y(), poseCam.getOrigin().z(),
 						poseCam.getRotation().x(), poseCam.getRotation().y(), poseCam.getRotation().z(), poseCam.getRotation().w());
 			}