diff --git a/src/main.cpp b/src/main.cpp
index b251701..6ef9053 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -51,6 +51,15 @@ const char VERSION[10] = "0.0.2";   // um7_driver version
 // us to publish everything we have.
 const uint8_t TRIGGER_PACKET = DREG_EULER_PHI_THETA;
 
+namespace OutputAxisOptions
+{
+  enum OutputAxisOption
+  {
+    DEFAULT, ENU, ROBOT_FRAME
+  };
+}
+typedef OutputAxisOptions::OutputAxisOption OutputAxisOption;
+
 /**
  * Function generalizes the process of writing an XYZ vector into consecutive
  * fields in UM7 registers.
@@ -206,7 +215,7 @@ bool handleResetService(um7::Comms* sensor,
  * the ROS messages which are output.
  */
 void publishMsgs(um7::Registers& r, ros::NodeHandle* imu_nh, sensor_msgs::Imu& imu_msg,
-    bool tf_ned_to_enu, bool use_magnetic_field_msg)
+    OutputAxisOption axes, bool use_magnetic_field_msg)
 {
   static ros::Publisher imu_pub = imu_nh->advertise<sensor_msgs::Imu>("data", 1, false);
   static ros::Publisher mag_pub;
@@ -223,40 +232,66 @@ void publishMsgs(um7::Registers& r, ros::NodeHandle* imu_nh, sensor_msgs::Imu& i
 
   if (imu_pub.getNumSubscribers() > 0)
   {
-    // body-fixed frame NED to ENU: (x y z)->(x -y -z) or (w x y z)->(x -y -z w)
-    // world frame      NED to ENU: (x y z)->(y  x -z) or (w x y z)->(y  x -z w)
-    if (tf_ned_to_enu)
+    switch (axes)
     {
-      // world frame
-      imu_msg.orientation.w =  r.quat.get_scaled(2);
-      imu_msg.orientation.x =  r.quat.get_scaled(1);
-      imu_msg.orientation.y = -r.quat.get_scaled(3);
-      imu_msg.orientation.z =  r.quat.get_scaled(0);
-
-      // body-fixed frame
-      imu_msg.angular_velocity.x =  r.gyro.get_scaled(0);
-      imu_msg.angular_velocity.y = -r.gyro.get_scaled(1);
-      imu_msg.angular_velocity.z = -r.gyro.get_scaled(2);
-
-      // body-fixed frame
-      imu_msg.linear_acceleration.x =  r.accel.get_scaled(0);
-      imu_msg.linear_acceleration.y = -r.accel.get_scaled(1);
-      imu_msg.linear_acceleration.z = -r.accel.get_scaled(2);
-    }
-    else
-    {
-      imu_msg.orientation.w = r.quat.get_scaled(0);
-      imu_msg.orientation.x = r.quat.get_scaled(1);
-      imu_msg.orientation.y = r.quat.get_scaled(2);
-      imu_msg.orientation.z = r.quat.get_scaled(3);
-
-      imu_msg.angular_velocity.x = r.gyro.get_scaled(0);
-      imu_msg.angular_velocity.y = r.gyro.get_scaled(1);
-      imu_msg.angular_velocity.z = r.gyro.get_scaled(2);
-
-      imu_msg.linear_acceleration.x = r.accel.get_scaled(0);
-      imu_msg.linear_acceleration.y = r.accel.get_scaled(1);
-      imu_msg.linear_acceleration.z = r.accel.get_scaled(2);
+      case OutputAxisOptions::ENU:
+      {
+        // body-fixed frame NED to ENU: (x y z)->(x -y -z) or (w x y z)->(x -y -z w)
+        // world frame      NED to ENU: (x y z)->(y  x -z) or (w x y z)->(y  x -z w)
+        // world frame
+        imu_msg.orientation.w =  r.quat.get_scaled(2);
+        imu_msg.orientation.x =  r.quat.get_scaled(1);
+        imu_msg.orientation.y = -r.quat.get_scaled(3);
+        imu_msg.orientation.z =  r.quat.get_scaled(0);
+
+        // body-fixed frame
+        imu_msg.angular_velocity.x =  r.gyro.get_scaled(0);
+        imu_msg.angular_velocity.y = -r.gyro.get_scaled(1);
+        imu_msg.angular_velocity.z = -r.gyro.get_scaled(2);
+
+        // body-fixed frame
+        imu_msg.linear_acceleration.x =  r.accel.get_scaled(0);
+        imu_msg.linear_acceleration.y = -r.accel.get_scaled(1);
+        imu_msg.linear_acceleration.z = -r.accel.get_scaled(2);
+        break;
+      }
+      case OutputAxisOptions::ROBOT_FRAME:
+      {
+        // body-fixed frame
+        imu_msg.orientation.w = -r.quat.get_scaled(0);
+        imu_msg.orientation.x = -r.quat.get_scaled(1);
+        imu_msg.orientation.y =  r.quat.get_scaled(2);
+        imu_msg.orientation.z =  r.quat.get_scaled(3);
+
+        // body-fixed frame
+        imu_msg.angular_velocity.x =  r.gyro.get_scaled(0);
+        imu_msg.angular_velocity.y = -r.gyro.get_scaled(1);
+        imu_msg.angular_velocity.z = -r.gyro.get_scaled(2);
+
+        // body-fixed frame
+        imu_msg.linear_acceleration.x =  r.accel.get_scaled(0);
+        imu_msg.linear_acceleration.y = -r.accel.get_scaled(1);
+        imu_msg.linear_acceleration.z = -r.accel.get_scaled(2);
+        break;
+      }
+      case OutputAxisOptions::DEFAULT:
+      {
+        imu_msg.orientation.w = r.quat.get_scaled(0);
+        imu_msg.orientation.x = r.quat.get_scaled(1);
+        imu_msg.orientation.y = r.quat.get_scaled(2);
+        imu_msg.orientation.z = r.quat.get_scaled(3);
+
+        imu_msg.angular_velocity.x = r.gyro.get_scaled(0);
+        imu_msg.angular_velocity.y = r.gyro.get_scaled(1);
+        imu_msg.angular_velocity.z = r.gyro.get_scaled(2);
+
+        imu_msg.linear_acceleration.x = r.accel.get_scaled(0);
+        imu_msg.linear_acceleration.y = r.accel.get_scaled(1);
+        imu_msg.linear_acceleration.z = r.accel.get_scaled(2);
+        break;
+      }
+      default:
+        ROS_ERROR("OuputAxes enum value invalid");
     }
 
     imu_pub.publish(imu_msg);
@@ -270,17 +305,32 @@ void publishMsgs(um7::Registers& r, ros::NodeHandle* imu_nh, sensor_msgs::Imu& i
       sensor_msgs::MagneticField mag_msg;
       mag_msg.header = imu_msg.header;
 
-      if (tf_ned_to_enu)
-      {
-        mag_msg.magnetic_field.x = r.mag.get_scaled(1);
-        mag_msg.magnetic_field.y = r.mag.get_scaled(0);
-        mag_msg.magnetic_field.z = -r.mag.get_scaled(2);
-      }
-      else
+      switch (axes)
       {
-        mag_msg.magnetic_field.x = r.mag.get_scaled(0);
-        mag_msg.magnetic_field.y = r.mag.get_scaled(1);
-        mag_msg.magnetic_field.z = r.mag.get_scaled(2);
+        case OutputAxisOptions::ENU:
+        {
+          mag_msg.magnetic_field.x = r.mag.get_scaled(1);
+          mag_msg.magnetic_field.y = r.mag.get_scaled(0);
+          mag_msg.magnetic_field.z = -r.mag.get_scaled(2);
+          break;
+        }
+        case OutputAxisOptions::ROBOT_FRAME:
+        {
+          // body-fixed frame
+          mag_msg.magnetic_field.x =  r.mag.get_scaled(0);
+          mag_msg.magnetic_field.y = -r.mag.get_scaled(1);
+          mag_msg.magnetic_field.z = -r.mag.get_scaled(2);
+          break;
+        }
+        case OutputAxisOptions::DEFAULT:
+        {
+          mag_msg.magnetic_field.x = r.mag.get_scaled(0);
+          mag_msg.magnetic_field.y = r.mag.get_scaled(1);
+          mag_msg.magnetic_field.z = r.mag.get_scaled(2);
+          break;
+        }
+        default:
+          ROS_ERROR("OuputAxes enum value invalid");
       }
 
       mag_pub.publish(mag_msg);
@@ -290,17 +340,32 @@ void publishMsgs(um7::Registers& r, ros::NodeHandle* imu_nh, sensor_msgs::Imu& i
       geometry_msgs::Vector3Stamped mag_msg;
       mag_msg.header = imu_msg.header;
 
-      if (tf_ned_to_enu)
-      {
-        mag_msg.vector.x = r.mag.get_scaled(1);
-        mag_msg.vector.y = r.mag.get_scaled(0);
-        mag_msg.vector.z = -r.mag.get_scaled(2);
-      }
-      else
+      switch (axes)
       {
-        mag_msg.vector.x = r.mag.get_scaled(0);
-        mag_msg.vector.y = r.mag.get_scaled(1);
-        mag_msg.vector.z = r.mag.get_scaled(2);
+        case OutputAxisOptions::ENU:
+        {
+          mag_msg.vector.x = r.mag.get_scaled(1);
+          mag_msg.vector.y = r.mag.get_scaled(0);
+          mag_msg.vector.z = -r.mag.get_scaled(2);
+          break;
+        }
+        case OutputAxisOptions::ROBOT_FRAME:
+        {
+          // body-fixed frame
+          mag_msg.vector.x =  r.mag.get_scaled(0);
+          mag_msg.vector.y = -r.mag.get_scaled(1);
+          mag_msg.vector.z = -r.mag.get_scaled(2);
+          break;
+        }
+        case OutputAxisOptions::DEFAULT:
+        {
+          mag_msg.vector.x = r.mag.get_scaled(0);
+          mag_msg.vector.y = r.mag.get_scaled(1);
+          mag_msg.vector.z = r.mag.get_scaled(2);
+          break;
+        }
+        default:
+          ROS_ERROR("OuputAxes enum value invalid");
       }
 
       mag_pub.publish(mag_msg);
@@ -313,18 +378,32 @@ void publishMsgs(um7::Registers& r, ros::NodeHandle* imu_nh, sensor_msgs::Imu& i
     geometry_msgs::Vector3Stamped rpy_msg;
     rpy_msg.header = imu_msg.header;
 
-    if (tf_ned_to_enu)
+    switch (axes)
     {
-      // world frame
-      rpy_msg.vector.x =  r.euler.get_scaled(1);
-      rpy_msg.vector.y =  r.euler.get_scaled(0);
-      rpy_msg.vector.z = -r.euler.get_scaled(2);
-    }
-    else
-    {
-      rpy_msg.vector.x = r.euler.get_scaled(0);
-      rpy_msg.vector.y = r.euler.get_scaled(1);
-      rpy_msg.vector.z = r.euler.get_scaled(2);
+      case OutputAxisOptions::ENU:
+      {
+        // world frame
+        rpy_msg.vector.x = r.euler.get_scaled(1);
+        rpy_msg.vector.y = r.euler.get_scaled(0);
+        rpy_msg.vector.z = -r.euler.get_scaled(2);
+        break;
+      }
+      case OutputAxisOptions::ROBOT_FRAME:
+      {
+        rpy_msg.vector.x =  r.euler.get_scaled(0);
+        rpy_msg.vector.y = -r.euler.get_scaled(1);
+        rpy_msg.vector.z = -r.euler.get_scaled(2);
+        break;
+      }
+      case OutputAxisOptions::DEFAULT:
+      {
+        rpy_msg.vector.x = r.euler.get_scaled(0);
+        rpy_msg.vector.y = r.euler.get_scaled(1);
+        rpy_msg.vector.z = r.euler.get_scaled(2);
+        break;
+      }
+      default:
+        ROS_ERROR("OuputAxes enum value invalid");
     }
 
     rpy_pub.publish(rpy_msg);
@@ -382,7 +461,22 @@ int main(int argc, char **argv)
 
   // Enable converting from NED to ENU by default
   bool tf_ned_to_enu;
+  bool orientation_in_robot_frame;
   private_nh.param<bool>("tf_ned_to_enu", tf_ned_to_enu, true);
+  private_nh.param<bool>("orientation_in_robot_frame", orientation_in_robot_frame, false);
+  OutputAxisOption axes = OutputAxisOptions::DEFAULT;
+  if (tf_ned_to_enu && orientation_in_robot_frame)
+  {
+    ROS_ERROR("Requested IMU data in two separate frames.");
+  }
+  else if (tf_ned_to_enu)
+  {
+    axes = OutputAxisOptions::ENU;
+  }
+  else if (orientation_in_robot_frame)
+  {
+    axes = OutputAxisOptions::ROBOT_FRAME;
+  }
 
   // Use MagneticField message rather than Vector3Stamped.
   bool use_magnetic_field_msg;
@@ -432,7 +526,7 @@ int main(int argc, char **argv)
           {
             // Triggered by arrival of final message in group.
             imu_msg.header.stamp = ros::Time::now();
-            publishMsgs(registers, &imu_nh, imu_msg, tf_ned_to_enu, use_magnetic_field_msg);
+            publishMsgs(registers, &imu_nh, imu_msg, axes, use_magnetic_field_msg);
             ros::spinOnce();
           }
         }