diff --git a/velodyne_pointcloud/config/VLP16-velodyne_convert_node-params.yaml b/velodyne_pointcloud/config/VLP16-velodyne_convert_node-params.yaml
index 598ff493f..af5d3d6d4 100644
--- a/velodyne_pointcloud/config/VLP16-velodyne_convert_node-params.yaml
+++ b/velodyne_pointcloud/config/VLP16-velodyne_convert_node-params.yaml
@@ -2,6 +2,8 @@ velodyne_convert_node:
     ros__parameters:
         calibration: VLP16db.yaml
         model: VLP16
+        target_frame: velodyne
+        fixed_frame: velodyne
         min_range: 0.9
         max_range: 130.0
         view_direction: 0.0
diff --git a/velodyne_pointcloud/config/VLP32C-velodyne_convert_node-params.yaml b/velodyne_pointcloud/config/VLP32C-velodyne_convert_node-params.yaml
index fa2ad0fa0..0990fc946 100644
--- a/velodyne_pointcloud/config/VLP32C-velodyne_convert_node-params.yaml
+++ b/velodyne_pointcloud/config/VLP32C-velodyne_convert_node-params.yaml
@@ -2,6 +2,8 @@ velodyne_convert_node:
     ros__parameters:
         calibration: VeloView-VLP-32C.yaml
         model: 32C
+        target_frame: velodyne
+        fixed_frame: velodyne
         min_range: 0.9
         max_range: 200.0
         view_direction: 0.0
diff --git a/velodyne_pointcloud/src/conversions/convert.cpp b/velodyne_pointcloud/src/conversions/convert.cpp
index d48fbd9e8..43845bb4d 100644
--- a/velodyne_pointcloud/src/conversions/convert.cpp
+++ b/velodyne_pointcloud/src/conversions/convert.cpp
@@ -100,10 +100,10 @@ Convert::Convert(const rclcpp::NodeOptions & options)
   view_width_desc.floating_point_range.push_back(view_width_range);
   double view_width = this->declare_parameter("view_width", 2.0 * M_PI, view_width_desc);
 
-  bool organize_cloud = this->declare_parameter("organize_cloud", true);
+  bool organize_cloud = this->declare_parameter("organize_cloud", false);
 
-  std::string target_frame = this->declare_parameter("target_frame", "");
-  std::string fixed_frame = this->declare_parameter("fixed_frame", "");
+  std::string target_frame = this->declare_parameter("target_frame", "velodyne");
+  std::string fixed_frame = this->declare_parameter("fixed_frame", "velodyne");
 
   RCLCPP_INFO(this->get_logger(), "correction angles: %s", calibration_file.c_str());