diff --git a/nav2_costmap_2d/plugins/static_layer.cpp b/nav2_costmap_2d/plugins/static_layer.cpp
index 7e4aa7835bf..553cad825dc 100644
--- a/nav2_costmap_2d/plugins/static_layer.cpp
+++ b/nav2_costmap_2d/plugins/static_layer.cpp
@@ -363,15 +363,53 @@ StaticLayer::updateBounds(
 
   useExtraBounds(min_x, min_y, max_x, max_y);
 
-  double wx, wy;
+  // Might even be in a different frame
+  if (map_frame_ == global_frame_) {
+    double wx, wy;
+
+    mapToWorld(x_, y_, wx, wy);
+    *min_x = std::min(wx, *min_x);
+    *min_y = std::min(wy, *min_y);
+
+    mapToWorld(x_ + width_, y_ + height_, wx, wy);
+    *max_x = std::max(wx, *max_x);
+    *max_y = std::max(wy, *max_y);
+  } else {
+    geometry_msgs::msg::TransformStamped transform;
+    try {
+      transform = tf_->lookupTransform(
+        global_frame_, map_frame_, tf2::TimePointZero,
+        transform_tolerance_);
+    } catch (tf2::TransformException & ex) {
+      RCLCPP_ERROR(logger_, "StaticLayer: %s", ex.what());
+      return;
+    }
+    tf2::Transform tf2_transform;
+    tf2::fromMsg(transform.transform, tf2_transform);
+
+    double wx, wy;
+    mapToWorld(x_, y_, wx, wy);
+    tf2::Vector3 down_left(wx, wy, 0);
+
+    mapToWorld(x_ + width_, y_, wx, wy);
+    tf2::Vector3 down_right(wx, wy, 0);
+
+    mapToWorld(x_, y_ + height_, wx, wy);
+    tf2::Vector3 up_left(wx, wy, 0);
 
-  mapToWorld(x_, y_, wx, wy);
-  *min_x = std::min(wx, *min_x);
-  *min_y = std::min(wy, *min_y);
+    mapToWorld(x_ + width_, y_ + height_, wx, wy);
+    tf2::Vector3 up_right(wx, wy, 0);
 
-  mapToWorld(x_ + width_, y_ + height_, wx, wy);
-  *max_x = std::max(wx, *max_x);
-  *max_y = std::max(wy, *max_y);
+    down_left = tf2_transform * down_left;
+    down_right = tf2_transform * down_right;
+    up_left = tf2_transform * up_left;
+    up_right = tf2_transform * up_right;
+
+    *min_x = std::min({*min_x, down_left.x(), down_right.x(), up_left.x(), up_right.x()});
+    *min_y = std::min({*min_y, down_left.y(), down_right.y(), up_left.y(), up_right.y()});
+    *max_x = std::max({*max_x, down_left.x(), down_right.x(), up_left.x(), up_right.x()});
+    *max_y = std::max({*max_y, down_left.y(), down_right.y(), up_left.y(), up_right.y()});
+  }
 
   has_updated_data_ = false;
 
diff --git a/nav2_costmap_2d/test/integration/inflation_tests.cpp b/nav2_costmap_2d/test/integration/inflation_tests.cpp
index 3cbf22336e8..3fa6c0e0039 100644
--- a/nav2_costmap_2d/test/integration/inflation_tests.cpp
+++ b/nav2_costmap_2d/test/integration/inflation_tests.cpp
@@ -201,7 +201,7 @@ TEST_F(TestNode, testAdjacentToObstacleCanStillMove)
 {
   initNode(4.1);
   tf2_ros::Buffer tf(node_->get_clock());
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
   layers.resizeMap(10, 10, 1, 0, 0);
 
   // Footprint with inscribed radius = 2.1
@@ -233,7 +233,7 @@ TEST_F(TestNode, testInflationShouldNotCreateUnknowns)
 {
   initNode(4.1);
   tf2_ros::Buffer tf(node_->get_clock());
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
   layers.resizeMap(10, 10, 1, 0, 0);
 
   // Footprint with inscribed radius = 2.1
@@ -269,7 +269,7 @@ TEST_F(TestNode, testInflationInUnknown)
   node_->set_parameter(rclcpp::Parameter("track_unknown_space", true));
 
   tf2_ros::Buffer tf(node_->get_clock());
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, true);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, true);
   layers.resizeMap(9, 9, 1, 0, 0);
 
   // Footprint with inscribed radius = 2.1
@@ -305,7 +305,7 @@ TEST_F(TestNode, testInflationAroundUnknown)
   node_->set_parameter(rclcpp::Parameter("track_unknown_space", true));
 
   tf2_ros::Buffer tf(node_->get_clock());
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
   layers.resizeMap(10, 10, 1, 0, 0);
 
   // Footprint with inscribed radius = 2.1
@@ -330,7 +330,7 @@ TEST_F(TestNode, testCostFunctionCorrectness)
 {
   initNode(10.5);
   tf2_ros::Buffer tf(node_->get_clock());
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
 
   layers.resizeMap(100, 100, 1, 0, 0);
   // Footprint with inscribed radius = 5.0
@@ -405,7 +405,7 @@ TEST_F(TestNode, testInflationOrderCorrectness)
   const double inflation_radius = 4.1;
   initNode(inflation_radius);
   tf2_ros::Buffer tf(node_->get_clock());
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
   layers.resizeMap(10, 10, 1, 0, 0);
 
   // Footprint with inscribed radius = 2.1
@@ -438,7 +438,7 @@ TEST_F(TestNode, testInflation)
 {
   initNode(1);
   tf2_ros::Buffer tf(node_->get_clock());
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
 
   // Footprint with inscribed radius = 2.1
   // circumscribed radius = 3.1
@@ -516,7 +516,7 @@ TEST_F(TestNode, testInflation2)
 {
   initNode(1);
   tf2_ros::Buffer tf(node_->get_clock());
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
 
   // Footprint with inscribed radius = 2.1
   // circumscribed radius = 3.1
@@ -554,7 +554,7 @@ TEST_F(TestNode, testInflation3)
 {
   initNode(3);
   tf2_ros::Buffer tf(node_->get_clock());
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
   layers.resizeMap(10, 10, 1, 0, 0);
 
   // 1 2 3
diff --git a/nav2_costmap_2d/test/integration/obstacle_tests.cpp b/nav2_costmap_2d/test/integration/obstacle_tests.cpp
index 56d422e678c..2676cccf4d4 100644
--- a/nav2_costmap_2d/test/integration/obstacle_tests.cpp
+++ b/nav2_costmap_2d/test/integration/obstacle_tests.cpp
@@ -148,7 +148,7 @@ class TestNode : public ::testing::Test
 TEST_F(TestNode, testRaytracing) {
   tf2_ros::Buffer tf(node_->get_clock());
 
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
   addStaticLayer(layers, tf, node_);
   auto olayer = addObstacleLayer(layers, tf, node_);
 
@@ -170,7 +170,7 @@ TEST_F(TestNode, testRaytracing) {
  */
 TEST_F(TestNode, testRaytracing2) {
   tf2_ros::Buffer tf(node_->get_clock());
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
   addStaticLayer(layers, tf, node_);
   auto olayer = addObstacleLayer(layers, tf, node_);
 
@@ -227,7 +227,7 @@ TEST_F(TestNode, testWaveInterference) {
   tf2_ros::Buffer tf(node_->get_clock());
   node_->set_parameter(rclcpp::Parameter("track_unknown_space", true));
   // Start with an empty map, no rolling window, tracking unknown
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, true);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, true);
   layers.resizeMap(10, 10, 1, 0, 0);
   auto olayer = addObstacleLayer(layers, tf, node_);
 
@@ -255,7 +255,7 @@ TEST_F(TestNode, testWaveInterference) {
 TEST_F(TestNode, testZThreshold) {
   tf2_ros::Buffer tf(node_->get_clock());
   // Start with an empty map
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, true);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, true);
   layers.resizeMap(10, 10, 1, 0, 0);
 
   auto olayer = addObstacleLayer(layers, tf, node_);
@@ -275,7 +275,7 @@ TEST_F(TestNode, testZThreshold) {
  */
 TEST_F(TestNode, testDynamicObstacles) {
   tf2_ros::Buffer tf(node_->get_clock());
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
   addStaticLayer(layers, tf, node_);
 
   auto olayer = addObstacleLayer(layers, tf, node_);
@@ -300,7 +300,7 @@ TEST_F(TestNode, testDynamicObstacles) {
  */
 TEST_F(TestNode, testMultipleAdditions) {
   tf2_ros::Buffer tf(node_->get_clock());
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
   addStaticLayer(layers, tf, node_);
 
   auto olayer = addObstacleLayer(layers, tf, node_);
@@ -319,7 +319,7 @@ TEST_F(TestNode, testMultipleAdditions) {
  */
 TEST_F(TestNode, testRepeatedResets) {
   tf2_ros::Buffer tf(node_->get_clock());
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
 
   std::shared_ptr<nav2_costmap_2d::StaticLayer> slayer = nullptr;
   addStaticLayer(layers, tf, node_, slayer);
@@ -370,7 +370,7 @@ TEST_F(TestNode, testRepeatedResets) {
 TEST_F(TestNode, testRaytracing) {
   tf2_ros::Buffer tf(node_->get_clock());
 
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
   layers.resizeMap(10, 10, 1, 0, 0);
 
   std::shared_ptr<nav2_costmap_2d::StaticLayer> slayer = nullptr;
@@ -555,7 +555,7 @@ TEST_F(TestNode, testMaxCombinationMethod) {
   tf2_ros::Buffer tf(node_->get_clock());
 
   // Create a costmap with full unknown space
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, true);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, true);
   layers.resizeMap(10, 10, 1, 0, 0);
 
   std::shared_ptr<nav2_costmap_2d::ObstacleLayer> olayer = nullptr;
@@ -600,7 +600,7 @@ TEST_F(TestNodeWithoutUnknownOverwrite, testMaxWithoutUnknownOverwriteCombinatio
   tf2_ros::Buffer tf(node_->get_clock());
 
   // Create a costmap with full unknown space
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, true);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, true);
   layers.resizeMap(10, 10, 1, 0, 0);
 
   std::shared_ptr<nav2_costmap_2d::ObstacleLayer> olayer = nullptr;
diff --git a/nav2_costmap_2d/test/integration/plugin_container_tests.cpp b/nav2_costmap_2d/test/integration/plugin_container_tests.cpp
index 06e15ea6e6a..4dbe4bcdf5e 100644
--- a/nav2_costmap_2d/test/integration/plugin_container_tests.cpp
+++ b/nav2_costmap_2d/test/integration/plugin_container_tests.cpp
@@ -158,7 +158,7 @@ class TestNode : public ::testing::Test
 TEST_F(TestNode, testObstacleLayers) {
   tf2_ros::Buffer tf(node_->get_clock());
 
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
   layers.resizeMap(10, 10, 1, 0, 0);
 
   std::shared_ptr<nav2_costmap_2d::PluginContainerLayer> pclayer_a = nullptr;
@@ -191,7 +191,7 @@ TEST_F(TestNode, testObstacleAndStaticLayers) {
   node_->declare_parameter("pclayer_a.static.map_topic",
     rclcpp::ParameterValue(std::string("map")));
 
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
 
   layers.resizeMap(10, 10, 1, 0, 0);
 
@@ -232,7 +232,7 @@ TEST_F(TestNode, testDifferentInflationLayers) {
   node_->declare_parameter("pclayer_b.inflation.inflation_radius",
     rclcpp::ParameterValue(1.0));
 
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
 
   layers.resizeMap(10, 10, 1, 0, 0);
 
@@ -281,7 +281,7 @@ TEST_F(TestNode, testDifferentInflationLayers2) {
   node_->declare_parameter("pclayer_a.inflation.inflation_radius",
     rclcpp::ParameterValue(1.0));
 
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
 
   layers.resizeMap(10, 10, 1, 0, 0);
 
@@ -336,7 +336,7 @@ TEST_F(TestNode, testResetting) {
   node_->declare_parameter("pclayer_b.inflation.inflation_radius",
     rclcpp::ParameterValue(1.0));
 
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
 
   layers.resizeMap(10, 10, 1, 0, 0);
 
@@ -407,7 +407,7 @@ TEST_F(TestNode, testClearing) {
   node_->declare_parameter("pclayer_b.inflation.inflation_radius",
     rclcpp::ParameterValue(1.0));
 
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
 
   layers.resizeMap(10, 10, 1, 0, 0);
 
@@ -473,7 +473,7 @@ TEST_F(TestNode, testOverwriteCombinationMethods) {
   node_->declare_parameter("pclayer_b.inflation.inflation_radius",
     rclcpp::ParameterValue(1.0));
 
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
 
   layers.resizeMap(10, 10, 1, 0, 0);
 
@@ -534,7 +534,7 @@ TEST_F(TestNode, testWithoutUnknownOverwriteCombinationMethods) {
   node_->declare_parameter("pclayer_b.inflation.inflation_radius",
     rclcpp::ParameterValue(1.0));
 
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, true);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, true);
 
   layers.resizeMap(10, 10, 1, 0, 0);
 
@@ -580,7 +580,7 @@ TEST_F(TestNode, testWithoutUnknownOverwriteCombinationMethods) {
 TEST_F(TestNode, testClearable) {
   tf2_ros::Buffer tf(node_->get_clock());
 
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
 
   std::shared_ptr<nav2_costmap_2d::PluginContainerLayer> pclayer_a = nullptr;
   addPluginContainerLayer(layers, tf, node_, pclayer_a, "pclayer_a");
diff --git a/nav2_costmap_2d/test/unit/declare_parameter_test.cpp b/nav2_costmap_2d/test/unit/declare_parameter_test.cpp
index 4106936cef1..2bd846a1168 100644
--- a/nav2_costmap_2d/test/unit/declare_parameter_test.cpp
+++ b/nav2_costmap_2d/test/unit/declare_parameter_test.cpp
@@ -34,7 +34,7 @@ TEST(DeclareParameter, useValidParameter)
   nav2_util::LifecycleNode::SharedPtr node =
     std::make_shared<nav2_util::LifecycleNode>("test_node");
   tf2_ros::Buffer tf(node->get_clock());
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
 
   layer.initialize(&layers, "test_layer", &tf, node, nullptr);
 
@@ -53,7 +53,7 @@ TEST(DeclareParameter, useInvalidParameter)
   nav2_util::LifecycleNode::SharedPtr node =
     std::make_shared<nav2_util::LifecycleNode>("test_node");
   tf2_ros::Buffer tf(node->get_clock());
-  nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
+  nav2_costmap_2d::LayeredCostmap layers("map", false, false);
 
   layer.initialize(&layers, "test_layer", &tf, node, nullptr);