diff --git a/nimbus_interactive_manipulation/include/nimbus_interactive_manipulation/nimbus6dofVis.h b/nimbus_interactive_manipulation/include/nimbus_interactive_manipulation/nimbus6dofVis.h
index a392c17..c75cf54 100644
--- a/nimbus_interactive_manipulation/include/nimbus_interactive_manipulation/nimbus6dofVis.h
+++ b/nimbus_interactive_manipulation/include/nimbus_interactive_manipulation/nimbus6dofVis.h
@@ -5,7 +5,6 @@
 #include <actionlib/client/simple_action_client.h>
 #include <actionlib/server/simple_action_server.h>
 #include <interactive_markers/interactive_marker_server.h>
-#include <nimbus_interactive_manipulation/SpecifiedGraspAction.h>
 #include <rail_manipulation_msgs/PickupAction.h>
 #include <sensor_msgs/JointState.h>
 #include <std_srvs/Empty.h>
diff --git a/nimbus_interactive_manipulation/src/nimbus6dofVis.cpp b/nimbus_interactive_manipulation/src/nimbus6dofVis.cpp
index 3e94bb6..2a65911 100644
--- a/nimbus_interactive_manipulation/src/nimbus6dofVis.cpp
+++ b/nimbus_interactive_manipulation/src/nimbus6dofVis.cpp
@@ -26,7 +26,7 @@ void Nimbus6dofVis::markerPositionCallback(const geometry_msgs::PoseStamped& pos
 void Nimbus6dofVis::makeGripperMarker()
 {
   visualization_msgs::InteractiveMarker iMarker;
-  iMarker.header.frame_id = "table_base_link";
+  iMarker.header.frame_id = "jaco_base_link";
 
   iMarker.pose.position.x = 0.0;
   iMarker.pose.position.y = 0.0;