diff --git a/frame_editor/CMakeLists.txt b/frame_editor/CMakeLists.txt
index 33d6972..57d4c23 100644
--- a/frame_editor/CMakeLists.txt
+++ b/frame_editor/CMakeLists.txt
@@ -65,6 +65,7 @@ add_service_files(
   GetFrame.srv
   GetFrameNames.srv
   RemoveFrame.srv
+  RenameFrame.srv
   SetFrame.srv
   SetParentFrame.srv
   CopyFrame.srv
diff --git a/frame_editor/src/frame_editor/FrameEditorGUI.ui b/frame_editor/src/frame_editor/FrameEditorGUI.ui
index 3b517ee..655fcc3 100644
--- a/frame_editor/src/frame_editor/FrameEditorGUI.ui
+++ b/frame_editor/src/frame_editor/FrameEditorGUI.ui
@@ -123,6 +123,17 @@
                  </property>
                 </widget>
                </item>
+               <item>
+                <widget class="QPushButton" name="btn_rename">
+                 <property name="text">
+                  <string>Rename</string>
+                 </property>
+                 <property name="icon">
+                  <iconset theme="text-editor">
+                   <normaloff>.</normaloff>.</iconset>
+                 </property>
+                </widget>
+               </item>
               </layout>
              </item>
             </layout>
@@ -174,9 +185,7 @@
              </item>
              <item>
               <widget class="QLineEdit" name="txt_name">
-               <property name="readOnly">
                 <bool>true</bool>
-               </property>
               </widget>
              </item>
              <item>
diff --git a/frame_editor/src/frame_editor/commands.py b/frame_editor/src/frame_editor/commands.py
index 6c6ece6..62a047b 100644
--- a/frame_editor/src/frame_editor/commands.py
+++ b/frame_editor/src/frame_editor/commands.py
@@ -188,7 +188,56 @@ def undo(self):
         self.element.hidden = True
         self.editor.add_undo_level(1, [self.element])
 
+class Command_RenameElement(QUndoCommand):
+    '''Copys a source frame's transformation and sets a new parent
+    '''
+
+    def __init__(self, editor, element, new_name):
+        QUndoCommand.__init__(self, "Rename")
+        self.editor = editor
+        self.element = element
+
+        self.was_active = editor.active_frame is element
+
+        self.new_name = new_name
+        self.old_name = element.name
+
+        self.element.name = self.new_name
+        
+    def redo(self):
+        if self.was_active:
+            self.editor.active_frame = self.element
+            self.editor.add_undo_level(2)
+
+        # Remove old frame
+        self.editor.frames.pop(self.old_name, None)
+
+        # Add new frame
+        self.element.name = self.new_name
+        self.editor.frames[self.new_name] = self.element
+        self.editor.add_undo_level(1, [self.element])
+
+        # Update parent names 
+        for frame in self.editor.frames.values():
+            if frame.parent == self.old_name:
+                frame.parent = self.new_name
+        self.editor.add_undo_level(4, [frame])
+
+    def undo(self):
+        if self.was_active:
+            self.editor.active_frame = self.element
+            self.editor.add_undo_level(2)
+
+        self.editor.frames.pop(self.new_name, None)
+
+        self.element.name = self.old_name
+        self.editor.frames[self.old_name] = self.element
+        self.editor.add_undo_level(1, [self.element])
 
+        for frame in self.editor.frames.values():
+            if frame.parent == self.new_name:
+                frame.parent = self.old_name
+        self.editor.add_undo_level(4, [frame])
 
 class Command_RebaseElement(QUndoCommand):
     '''Copys a source frame's transformation and sets a new parent
diff --git a/frame_editor/src/frame_editor/interface_services.py b/frame_editor/src/frame_editor/interface_services.py
index 4d6a641..7d767a7 100644
--- a/frame_editor/src/frame_editor/interface_services.py
+++ b/frame_editor/src/frame_editor/interface_services.py
@@ -30,6 +30,7 @@ def __init__(self, frame_editor):
         rospy.Service("~set_frame", SetFrame, self.callback_set_frame)
         rospy.Service("~set_parent", SetParentFrame, self.callback_set_parent_frame)
         rospy.Service("~copy_frame", CopyFrame, self.callback_copy_frame)
+        rospy.Service("~rename_frame", RenameFrame, self.callback_rename_frame)
 
         rospy.Service("~load_yaml", LoadYaml, self.callback_load_yaml)
         rospy.Service("~save_yaml", SaveYaml, self.callback_save_yaml)
@@ -276,5 +277,39 @@ def callback_copy_frame(self, request):
                 response.error_code = 9
 
         return response
+    
+    def callback_rename_frame(self, request):
+        rospy.loginfo("> Request to rename frame '{}' with new name '{}'".format(request.source_name, request.new_name))
+
+        response = RenameFrameResponse()
+        response.error_code = 0
+
+        if request.new_name == "":
+            rospy.logerr(" Error: No name given")
+            response.error_code = 1
+
+        elif request.source_name == "":
+            rospy.logerr(" Error: No source name given")
+            response.error_code = 3
+
+        elif request.source_name not in self.editor.frames:
+            rospy.logerr(f" Error: Source Frame not found: {request.source_name}")
+            response.error_code = 2
+            
+        elif request.new_name in self.editor.frames:
+            rospy.logerr(f" Error: New frame name already exists: {request.new_name}")
+            response.error_code = 4
+
+        else:
+            try:
+                self.editor.command(Command_RenameElement(self.editor, self.editor.frames.get(request.source_name), request.new_name))
+            except AttributeError as e:
+                rospy.logerr("Error: The source frame was not found. {}".format(e))
+                response.error_code = 9
+            except Exception as e:
+                rospy.logerr("Error: unhandled exception {}".format(e))
+                response.error_code = 9
+
+        return response
 
 # eof
diff --git a/frame_editor/src/frame_editor/rqt_editor.py b/frame_editor/src/frame_editor/rqt_editor.py
index feb2499..fcd5d9b 100755
--- a/frame_editor/src/frame_editor/rqt_editor.py
+++ b/frame_editor/src/frame_editor/rqt_editor.py
@@ -116,6 +116,7 @@ def create_main_widget(self):
         ##
         widget.btn_add.clicked.connect(self.btn_add_clicked)
         widget.btn_delete.clicked.connect(self.btn_delete_clicked)
+        widget.btn_rename.clicked.connect(self.btn_rename_clicked)
         widget.btn_duplicate.clicked.connect(self.btn_duplicate_clicked)
         widget.list_frames.currentItemChanged.connect(self.selected_frame_changed)
         widget.list_tf.currentItemChanged.connect(self.update_measurement)
@@ -151,6 +152,7 @@ def create_main_widget(self):
         widget.txt_c.editingFinished.connect(self.c_valueChanged)
 
         widget.txt_group.editingFinished.connect(self.group_valueChanged)
+        widget.txt_name.editingFinished.connect(self.frameName_valueChanged)
 
         widget.btn_rad.toggled.connect(self.update_fields)
 
@@ -559,6 +561,24 @@ def btn_duplicate_clicked(self, checked):
 
         self.editor.command(Command_CopyElement(self.editor, name, source_name, parent_name))
         self.signal_update_tf.emit(False, False)
+        
+    @Slot(bool)
+    def btn_rename_clicked(self, checked):
+        item = self.widget.list_frames.currentItem()
+        if not item:
+            return
+
+        # Check if the item is a frame. Early returns if selected item is not a frame (e.g. a group)
+        source_name = item.text(0)
+        if self.editor.frames.get(source_name) is None:
+            return
+
+        new_name = self.get_valid_frame_name("Rename Frame", default_name=source_name)
+        if not new_name:
+            return
+
+        self.editor.command(Command_RenameElement(self.editor, self.editor.frames[source_name], new_name))
+        self.signal_update_tf.emit(True, True)
 
     def get_sleep_time(self):
         return max(5.0 / self.editor.hz, 0.1)
@@ -585,7 +605,13 @@ def btn_delete_clicked(self, checked):
         item = self.widget.list_frames.currentItem()
         if not item:
             return
-        self.editor.command(Command_RemoveElement(self.editor, self.editor.frames[item.text(0)]))
+        
+        # Check if the item is a frame. Early returns if selected item is not a frame (e.g. a group)
+        source_name = item.text(0)
+        if self.editor.frames.get(source_name) is None:
+            return
+
+        self.editor.command(Command_RemoveElement(self.editor, self.editor.frames[source_name]))
         self.signal_update_tf.emit(True, True)
         
     ## PARENTING ##
@@ -714,7 +740,26 @@ def group_valueChanged(self):
         if self.editor.active_frame.group != value:
             self.editor.command(Command_SetGroup(self.editor, self.editor.active_frame, value))
 
+    @Slot()
+    def frameName_valueChanged(self):
+        item = self.widget.list_frames.currentItem()
+        if not item:
+            return
+        source_name = item.text(0)
+
+        new_name = self.widget.txt_name.text()
+        existing_tf_frames = set(self.editor.all_frame_ids())
+        existing_editor_frames = set(self.editor.all_editor_frame_ids())
 
+        # allow recreating if frame was published by frameditor node originally
+        if source_name != new_name and (new_name in existing_editor_frames or (new_name in existing_tf_frames and not Frame.was_published_by_frameeditor(new_name))):
+            self.widget.txt_name.setText(source_name)
+            QtWidgets.QMessageBox.warning(self.widget, "Invalid Frame Name",
+            f"The frame name {new_name} already exists. Cannot create a new frame with the same name.")
+            return None
+        
+        self.editor.command(Command_RenameElement(self.editor, self.editor.frames[source_name], new_name))
+        self.signal_update_tf.emit(True, True)
 
     ## FRAME STYLE ##
     ##
diff --git a/frame_editor/srv/RenameFrame.srv b/frame_editor/srv/RenameFrame.srv
new file mode 100644
index 0000000..c3b0ba8
--- /dev/null
+++ b/frame_editor/srv/RenameFrame.srv
@@ -0,0 +1,4 @@
+string source_name
+string new_name
+---
+int32 error_code
\ No newline at end of file