diff --git a/libraries/AP_DDS/README.md b/libraries/AP_DDS/README.md
index 3e89398599..5b98ecbac7 100644
--- a/libraries/AP_DDS/README.md
+++ b/libraries/AP_DDS/README.md
@@ -220,7 +220,7 @@ Published topics:
 Subscribed topics:
  * /ap/cmd_vel [geometry_msgs/msg/TwistStamped] 1 subscriber
  * /ap/joy [sensor_msgs/msg/Joy] 1 subscriber
- * /tf [tf2_msgs/msg/TFMessage] 1 subscriber
+ * /ap/tf [tf2_msgs/msg/TFMessage] 1 subscriber
 ```
 
 ```bash
diff --git a/libraries/AP_DDS/dds_xrce_profile.xml b/libraries/AP_DDS/dds_xrce_profile.xml
index c97e6d9d11..abfa47779e 100644
--- a/libraries/AP_DDS/dds_xrce_profile.xml
+++ b/libraries/AP_DDS/dds_xrce_profile.xml
@@ -239,7 +239,7 @@
     </topic>
   </data_reader>
   <topic profile_name="dynamictf__t">
-    <name>rt/tf</name>
+    <name>rt/ap/tf</name>
     <dataType>tf2_msgs::msg::dds_::TFMessage_</dataType>
     <historyQos>
       <kind>KEEP_LAST</kind>
@@ -249,7 +249,7 @@
   <data_reader profile_name="dynamictf__dr">
     <topic>
       <kind>NO_KEY</kind>
-      <name>rt/tf</name>
+      <name>rt/ap/tf</name>
       <dataType>tf2_msgs::msg::dds_::TFMessage_</dataType>
     </topic>
   </data_reader>