diff --git a/src/CoreWrapper.cpp b/src/CoreWrapper.cpp
index dd64ac8a..61a60775 100644
--- a/src/CoreWrapper.cpp
+++ b/src/CoreWrapper.cpp
@@ -2177,7 +2177,9 @@ void CoreWrapper::tagDetectionsAsyncCallback(const apriltags2_ros::AprilTagDetec
 		{
 			if(tagDetections.detections[i].id.size() >= 1)
 			{
-				uInsert(tags_, std::make_pair(tagDetections.detections[i].id[0], tagDetections.detections[i].pose));
+				geometry_msgs::PoseWithCovarianceStamped p = tagDetections.detections[i].pose;
+				p.header.frame_id = tagDetections.header.frame_id; // make sure we pass frame_id of parent
+				uInsert(tags_, std::make_pair(tagDetections.detections[i].id[0], p));
 			}
 		}
 	}