diff --git a/bitbots_misc/bitbots_extrinsic_calibration/CMakeLists.txt b/bitbots_misc/bitbots_extrinsic_calibration/CMakeLists.txt
index 1dfc02d76..f08aaeb3d 100644
--- a/bitbots_misc/bitbots_extrinsic_calibration/CMakeLists.txt
+++ b/bitbots_misc/bitbots_extrinsic_calibration/CMakeLists.txt
@@ -17,8 +17,6 @@ find_package(tf2 REQUIRED)
 find_package(rot_conv REQUIRED)
 find_package(backward_ros REQUIRED)
 
-include_directories(include)
-
 add_compile_options(-Wall -Werror -Wno-unused)
 
 add_executable(extrinsic_calibration src/extrinsic_calibration.cpp)
diff --git a/bitbots_misc/bitbots_extrinsic_calibration/config/amy.yaml b/bitbots_misc/bitbots_extrinsic_calibration/config/amy.yaml
index 5944a576d..93bdfd39d 100644
--- a/bitbots_misc/bitbots_extrinsic_calibration/config/amy.yaml
+++ b/bitbots_misc/bitbots_extrinsic_calibration/config/amy.yaml
@@ -1,4 +1,10 @@
-/bitbots_extrinsic_calibration:
+/bitbots_extrinsic_camera_calibration:
+  ros__parameters:
+    offset_x: 0.0
+    offset_y: 0.0
+    offset_z: 0.0
+
+/bitbots_extrinsic_imu_calibration:
   ros__parameters:
     offset_x: 0.0
     offset_y: 0.0
diff --git a/bitbots_misc/bitbots_extrinsic_calibration/config/default.yaml b/bitbots_misc/bitbots_extrinsic_calibration/config/default.yaml
index 5944a576d..93bdfd39d 100644
--- a/bitbots_misc/bitbots_extrinsic_calibration/config/default.yaml
+++ b/bitbots_misc/bitbots_extrinsic_calibration/config/default.yaml
@@ -1,4 +1,10 @@
-/bitbots_extrinsic_calibration:
+/bitbots_extrinsic_camera_calibration:
+  ros__parameters:
+    offset_x: 0.0
+    offset_y: 0.0
+    offset_z: 0.0
+
+/bitbots_extrinsic_imu_calibration:
   ros__parameters:
     offset_x: 0.0
     offset_y: 0.0
diff --git a/bitbots_misc/bitbots_extrinsic_calibration/config/donna.yaml b/bitbots_misc/bitbots_extrinsic_calibration/config/donna.yaml
index 5944a576d..93bdfd39d 100644
--- a/bitbots_misc/bitbots_extrinsic_calibration/config/donna.yaml
+++ b/bitbots_misc/bitbots_extrinsic_calibration/config/donna.yaml
@@ -1,4 +1,10 @@
-/bitbots_extrinsic_calibration:
+/bitbots_extrinsic_camera_calibration:
+  ros__parameters:
+    offset_x: 0.0
+    offset_y: 0.0
+    offset_z: 0.0
+
+/bitbots_extrinsic_imu_calibration:
   ros__parameters:
     offset_x: 0.0
     offset_y: 0.0
diff --git a/bitbots_misc/bitbots_extrinsic_calibration/config/jack.yaml b/bitbots_misc/bitbots_extrinsic_calibration/config/jack.yaml
index ed0cbe9f8..60fd7357c 100644
--- a/bitbots_misc/bitbots_extrinsic_calibration/config/jack.yaml
+++ b/bitbots_misc/bitbots_extrinsic_calibration/config/jack.yaml
@@ -1,5 +1,11 @@
-/bitbots_extrinsic_calibration:
+/bitbots_extrinsic_camera_calibration:
   ros__parameters:
     offset_x: -0.05
     offset_y: 0.15
     offset_z: 0.0
+
+/bitbots_extrinsic_imu_calibration:
+  ros__parameters:
+    offset_x: 0.0
+    offset_y: 0.0
+    offset_z: 0.0
diff --git a/bitbots_misc/bitbots_extrinsic_calibration/config/melody.yaml b/bitbots_misc/bitbots_extrinsic_calibration/config/melody.yaml
index 5944a576d..93bdfd39d 100644
--- a/bitbots_misc/bitbots_extrinsic_calibration/config/melody.yaml
+++ b/bitbots_misc/bitbots_extrinsic_calibration/config/melody.yaml
@@ -1,4 +1,10 @@
-/bitbots_extrinsic_calibration:
+/bitbots_extrinsic_camera_calibration:
+  ros__parameters:
+    offset_x: 0.0
+    offset_y: 0.0
+    offset_z: 0.0
+
+/bitbots_extrinsic_imu_calibration:
   ros__parameters:
     offset_x: 0.0
     offset_y: 0.0
diff --git a/bitbots_misc/bitbots_extrinsic_calibration/config/rory.yaml b/bitbots_misc/bitbots_extrinsic_calibration/config/rory.yaml
index 5944a576d..fccb85d09 100644
--- a/bitbots_misc/bitbots_extrinsic_calibration/config/rory.yaml
+++ b/bitbots_misc/bitbots_extrinsic_calibration/config/rory.yaml
@@ -1,5 +1,11 @@
-/bitbots_extrinsic_calibration:
+/bitbots_extrinsic_camera_calibration:
   ros__parameters:
-    offset_x: 0.0
+    offset_x: -0.03
     offset_y: 0.0
     offset_z: 0.0
+
+/bitbots_extrinsic_imu_calibration:
+  ros__parameters:
+    offset_x: -0.03
+    offset_y: 0.03
+    offset_z: 0.0
diff --git a/bitbots_misc/bitbots_extrinsic_calibration/include/extrinsic_calibration/extrinsic_calibration.hpp b/bitbots_misc/bitbots_extrinsic_calibration/include/extrinsic_calibration/extrinsic_calibration.hpp
deleted file mode 100644
index 610cfd063..000000000
--- a/bitbots_misc/bitbots_extrinsic_calibration/include/extrinsic_calibration/extrinsic_calibration.hpp
+++ /dev/null
@@ -1,25 +0,0 @@
-#include <rot_conv/rot_conv.h>
-#include <tf2/utils.h>
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_broadcaster.h>
-
-#include <rcl_interfaces/msg/parameter_descriptor.hpp>
-#include <rclcpp/experimental/executors/events_executor/events_executor.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <std_msgs/msg/char.hpp>
-#include <utility>
-using std::placeholders::_1;
-
-class ExtrinsicCalibrationBroadcaster : public rclcpp::Node {
- public:
-  ExtrinsicCalibrationBroadcaster();
-  void step();
-
- private:
-  OnSetParametersCallbackHandle::SharedPtr param_callback_handle_;
-  std::unique_ptr<tf2_ros::TransformBroadcaster> broadcaster_;
-  geometry_msgs::msg::Transform transform_{geometry_msgs::msg::Transform()};
-  std::string parent_frame_, child_frame_;
-  double offset_x_ = 0, offset_y_ = 0, offset_z_ = 0;
-  rcl_interfaces::msg::SetParametersResult onSetParameters(const std::vector<rclcpp::Parameter> &parameters);
-};
diff --git a/bitbots_misc/bitbots_extrinsic_calibration/launch/calibration.launch b/bitbots_misc/bitbots_extrinsic_calibration/launch/calibration.launch
index d4b136cb4..6e4e4c08d 100644
--- a/bitbots_misc/bitbots_extrinsic_calibration/launch/calibration.launch
+++ b/bitbots_misc/bitbots_extrinsic_calibration/launch/calibration.launch
@@ -1,8 +1,16 @@
 <launch>
     <arg name="sim" default="false"/>
 
-    <node pkg="bitbots_extrinsic_calibration" exec="extrinsic_calibration" name="bitbots_extrinsic_calibration">
+    <node pkg="bitbots_extrinsic_calibration" exec="extrinsic_calibration" name="bitbots_extrinsic_camera_calibration">
         <param name="use_sim_time" value="$(var sim)"/>
+        <param name="parent_frame" value="camera_optical_frame_uncalibrated"/>
+        <param name="child_frame" value="camera_optical_frame"/>
+        <param from="$(find-pkg-share bitbots_extrinsic_calibration)/config/$(env ROBOT_NAME default).yaml" />
+    </node>
+    <node pkg="bitbots_extrinsic_calibration" exec="extrinsic_calibration" name="bitbots_extrinsic_imu_calibration">
+        <param name="use_sim_time" value="$(var sim)"/>
+        <param name="parent_frame" value="imu_frame_uncalibrated"/>
+        <param name="child_frame" value="imu_frame"/>
         <param from="$(find-pkg-share bitbots_extrinsic_calibration)/config/$(env ROBOT_NAME default).yaml" />
     </node>
 </launch>
diff --git a/bitbots_misc/bitbots_extrinsic_calibration/src/extrinsic_calibration.cpp b/bitbots_misc/bitbots_extrinsic_calibration/src/extrinsic_calibration.cpp
index 82342cf27..b9cd7a4e5 100644
--- a/bitbots_misc/bitbots_extrinsic_calibration/src/extrinsic_calibration.cpp
+++ b/bitbots_misc/bitbots_extrinsic_calibration/src/extrinsic_calibration.cpp
@@ -1,74 +1,82 @@
-#include <extrinsic_calibration/extrinsic_calibration.hpp>
-
-ExtrinsicCalibrationBroadcaster::ExtrinsicCalibrationBroadcaster() : Node("bitbots_extrinsic_calibration") {
-  broadcaster_ = std::make_unique<tf2_ros::TransformBroadcaster>(this);
-
-  this->declare_parameter<std::string>("parent_frame", "camera");
-  this->declare_parameter<std::string>("child_frame", "camera_optical_frame");
-  this->declare_parameter<double>("offset_x", 0.0, rcl_interfaces::msg::ParameterDescriptor());
-  this->declare_parameter<double>("offset_y", 0.0);
-  this->declare_parameter<double>("offset_z", 0.0);
-
-  auto parameters = this->get_parameters(this->list_parameters({}, 10).names);
-  ExtrinsicCalibrationBroadcaster::onSetParameters(parameters);
-
-  param_callback_handle_ =
-      this->add_on_set_parameters_callback(std::bind(&ExtrinsicCalibrationBroadcaster::onSetParameters, this, _1));
-}
-
-rcl_interfaces::msg::SetParametersResult ExtrinsicCalibrationBroadcaster::onSetParameters(
-    const std::vector<rclcpp::Parameter> &parameters) {
-  for (const auto &parameter : parameters) {
-    if (parameter.get_name() == "offset_x") {
-      offset_x_ = parameter.as_double();
-    } else if (parameter.get_name() == "offset_y") {
-      offset_y_ = parameter.as_double();
-    } else if (parameter.get_name() == "offset_z") {
-      offset_z_ = parameter.as_double();
-    } else if (parameter.get_name() == "parent_frame") {
-      parent_frame_ = parameter.as_string();
-    } else if (parameter.get_name() == "child_frame") {
-      child_frame_ = parameter.as_string();
-    } else {
-      RCLCPP_DEBUG(this->get_logger(), "Unknown parameter: %s", parameter.get_name().c_str());
-    }
+#include <rot_conv/rot_conv.h>
+#include <tf2/utils.h>
+#include <tf2_ros/buffer.h>
+#include <tf2_ros/static_transform_broadcaster.h>
+
+#include <rcl_interfaces/msg/parameter_descriptor.hpp>
+#include <rclcpp/experimental/executors/events_executor/events_executor.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <std_msgs/msg/char.hpp>
+#include <utility>
+using std::placeholders::_1;
+
+class ExtrinsicCalibrationBroadcaster : public rclcpp::Node {
+ public:
+  ExtrinsicCalibrationBroadcaster() : Node("bitbots_extrinsic_calibration") {
+    broadcaster_ = std::make_unique<tf2_ros::StaticTransformBroadcaster>(this);
+
+    this->declare_parameter<std::string>("parent_frame", "camera_optical_frame_uncalibrated");
+    this->declare_parameter<std::string>("child_frame", "camera_optical_frame");
+    this->declare_parameter<double>("offset_x", 0.0, rcl_interfaces::msg::ParameterDescriptor());
+    this->declare_parameter<double>("offset_y", 0.0);
+    this->declare_parameter<double>("offset_z", 0.0);
+
+    auto parameters = this->get_parameters(this->list_parameters({}, 10).names);
+    onSetParameters(parameters);
+
+    param_callback_handle_ =
+        this->add_on_set_parameters_callback(std::bind(&ExtrinsicCalibrationBroadcaster::onSetParameters, this, _1));
   }
 
-  auto base_quat = rot_conv::QuatFromEuler(-1.5708, 0.0, -1.5708);
-  auto offset_quat = rot_conv::QuatFromEuler(offset_z_, offset_y_, offset_x_);
-
-  auto final_quat = offset_quat * base_quat;
+  rcl_interfaces::msg::SetParametersResult onSetParameters(const std::vector<rclcpp::Parameter> &parameters) {
+    for (const auto &parameter : parameters) {
+      if (parameter.get_name() == "offset_x") {
+        offset_x_ = parameter.as_double();
+      } else if (parameter.get_name() == "offset_y") {
+        offset_y_ = parameter.as_double();
+      } else if (parameter.get_name() == "offset_z") {
+        offset_z_ = parameter.as_double();
+      } else if (parameter.get_name() == "parent_frame") {
+        parent_frame_ = parameter.as_string();
+      } else if (parameter.get_name() == "child_frame") {
+        child_frame_ = parameter.as_string();
+      } else {
+        RCLCPP_DEBUG(this->get_logger(), "Unknown parameter: %s", parameter.get_name().c_str());
+      }
+    }
+    auto offset_quat = rot_conv::QuatFromEuler(offset_z_, offset_y_, offset_x_);
 
-  transform_.rotation.x = final_quat.x();
-  transform_.rotation.y = final_quat.y();
-  transform_.rotation.z = final_quat.z();
-  transform_.rotation.w = final_quat.w();
+    transform_.rotation.x = offset_quat.x();
+    transform_.rotation.y = offset_quat.y();
+    transform_.rotation.z = offset_quat.z();
+    transform_.rotation.w = offset_quat.w();
 
-  rcl_interfaces::msg::SetParametersResult result;
-  result.successful = true;
+    geometry_msgs::msg::TransformStamped tf;
+    tf.header.stamp = this->now();
+    tf.header.frame_id = parent_frame_;
+    tf.child_frame_id = child_frame_;
+    tf.transform = transform_;
+    broadcaster_->sendTransform(tf);
 
-  return result;
-}
+    rcl_interfaces::msg::SetParametersResult result;
+    result.successful = true;
 
-void ExtrinsicCalibrationBroadcaster::step() {
-  rclcpp::Time now = this->now();
+    return result;
+  }
 
-  geometry_msgs::msg::TransformStamped tf;
-  tf.header.stamp = now;
-  tf.header.frame_id = parent_frame_;
-  tf.child_frame_id = child_frame_;
-  tf.transform = transform_;
-  broadcaster_->sendTransform(tf);
-}
+ private:
+  OnSetParametersCallbackHandle::SharedPtr param_callback_handle_;
+  std::unique_ptr<tf2_ros::StaticTransformBroadcaster> broadcaster_;
+  geometry_msgs::msg::Transform transform_{geometry_msgs::msg::Transform()};
+  std::string parent_frame_, child_frame_;
+  double offset_x_ = 0, offset_y_ = 0, offset_z_ = 0;
+};
 
 int main(int argc, char **argv) {
   rclcpp::init(argc, argv);
 
   auto node = std::make_shared<ExtrinsicCalibrationBroadcaster>();
 
-  rclcpp::TimerBase::SharedPtr timer =
-      rclcpp::create_timer(node, node->get_clock(), rclcpp::Duration(0, 1e7), [node]() -> void { node->step(); });
-
   rclcpp::experimental::executors::EventsExecutor exec;
   exec.add_node(node);
   exec.spin();
diff --git a/bitbots_wolfgang/wolfgang_description/urdf/robot.urdf b/bitbots_wolfgang/wolfgang_description/urdf/robot.urdf
index 31dc49076..b9fc59749 100644
--- a/bitbots_wolfgang/wolfgang_description/urdf/robot.urdf
+++ b/bitbots_wolfgang/wolfgang_description/urdf/robot.urdf
@@ -192,7 +192,7 @@
         <color rgba="0.647059 0.647059 0.647059 1.0"/>
       </material>
     </visual>
-  
+
     <visual>
       <origin rpy="-3.14159 1.5708 0.0" xyz="-0.0015 -0.036 0.2035"/>
       <geometry>
@@ -374,18 +374,19 @@
       </material>
     </visual>
   </link>
-  <link name="imu_frame">
+  <!-- Renamed due to extrinsic calibration -->
+  <link name="imu_frame_uncalibrated">
     <inertial>
       <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
       <mass value="1e-09"/>
       <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
     </inertial>
   </link>
-  <joint name="imu_frame_frame" type="fixed">
+  <joint name="imu_frame_uncalibrated_frame" type="fixed">
     <origin rpy="5.31321e-16 -3.12873e-17 4.65401e-17" xyz="-0.0369749 -0.0474614 0.224"/>
     <axis xyz="0.0 0.0 0.0"/>
     <parent link="torso"/>
-    <child link="imu_frame"/>
+    <child link="imu_frame_uncalibrated"/>
   </joint>
   <link name="r_shoulder">
     <inertial>
@@ -3588,21 +3589,21 @@
     <child link="camera"/>
   </joint>
   <!--
-  Removed due to extrinsic calibration
-  <link name="camera_optical_frame">
+  Renamed due to extrinsic calibration
+  -->
+  <link name="camera_optical_frame_uncalibrated">
     <inertial>
       <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
       <mass value="1e-09"/>
       <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
     </inertial>
   </link>
-  <joint name="camera_optical_frame_frame" type="fixed">
+  <joint name="camera_optical_frame_uncalibrated_frame" type="fixed">
     <origin rpy="3.14159 -1.5708 0.0" xyz="0.0432 0.08 -0.0235"/>
     <axis xyz="0.0 0.0 0.0"/>
     <parent link="head"/>
-    <child link="camera_optical_frame"/>
+    <child link="camera_optical_frame_uncalibrated"/>
   </joint>
-  -->
   <link name="imu_frame_2">
     <inertial>
       <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
@@ -3870,7 +3871,7 @@
       </plugin>
     </sensor>
   </gazebo>
-  <gazebo reference="imu_frame">
+  <gazebo reference="imu_frame_uncalibrated">
     <gravity>true</gravity>
     <sensor name="imu_sensor" type="imu">
       <always_on>true</always_on>
@@ -3879,12 +3880,12 @@
       <topic>__default_topic__</topic>
       <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
         <topicName>imu</topicName>
-        <bodyName>imu_frame</bodyName>
+        <bodyName>imu_frame_uncalibrated</bodyName>
         <updateRateHZ>100.0</updateRateHZ>
         <gaussianNoise>0.0</gaussianNoise>
         <xyzOffset>0 0 0</xyzOffset>
         <rpyOffset>0 0 0</rpyOffset>
-        <frameName>imu_frame</frameName>
+        <frameName>imu_frame_uncalibrated</frameName>
       </plugin>
       <pose>0 0 0 0 0 0</pose>
     </sensor>