diff --git a/pointcloud_to_laserscan/launch/sample_node.launch b/pointcloud_to_laserscan/launch/sample_node.launch
index 3336a3b9..d5ca6c35 100644
--- a/pointcloud_to_laserscan/launch/sample_node.launch
+++ b/pointcloud_to_laserscan/launch/sample_node.launch
@@ -15,8 +15,8 @@
         <remap from="cloud_in" to="$(arg camera)/depth_registered/points_processed"/>
         <remap from="scan" to="$(arg camera)/scan"/>
         <rosparam>
-            target_frame: base_link # Leave empty for no transform
-            transform_tolerance: 1.0
+            #target_frame: # Leave disabled to output scan in pointcloud frame
+            transform_tolerance: 0.0
             min_height: 0.0
             max_height: 1.0
 
diff --git a/pointcloud_to_laserscan/launch/sample_nodelet.launch b/pointcloud_to_laserscan/launch/sample_nodelet.launch
index 45027f8a..79496023 100644
--- a/pointcloud_to_laserscan/launch/sample_nodelet.launch
+++ b/pointcloud_to_laserscan/launch/sample_nodelet.launch
@@ -15,7 +15,8 @@
         <remap from="cloud_in" to="$(arg camera)/depth_registered/points_processed"/>
         <remap from="scan" to="$(arg camera)/scan"/>
         <rosparam>
-            target_frame: base_link # Leave empty for no transform
+            #target_frame: # Leave disabled to output scan in pointcloud frame
+            transform_tolerance: 0.0
             min_height: 0.0
             max_height: 1.0