diff --git a/ipa_building_navigation/ros/src/room_sequence_planning_action_server.cpp b/ipa_building_navigation/ros/src/room_sequence_planning_action_server.cpp
index 6e0353e6..2c193f3c 100644
--- a/ipa_building_navigation/ros/src/room_sequence_planning_action_server.cpp
+++ b/ipa_building_navigation/ros/src/room_sequence_planning_action_server.cpp
@@ -632,7 +632,7 @@ void RoomSequencePlanningServer::publishSequenceVisualization(const std::vector<
 		// prepare clique center circle message
 		visualization_msgs::Marker circle;
 		// Set the frame ID and timestamp.  See the TF tutorials for information on these.
-		circle.header.frame_id = "/map";
+		circle.header.frame_id = "map";
 		circle.header.stamp = ros::Time::now();
 		// Set the namespace and id for this marker.  This serves to create a unique ID
 		// Any marker sent with the same namespace and id will overwrite the old one
@@ -665,7 +665,7 @@ void RoomSequencePlanningServer::publishSequenceVisualization(const std::vector<
 		// prepare clique center text message
 		visualization_msgs::Marker text;
 		// Set the frame ID and timestamp.  See the TF tutorials for information on these.
-		text.header.frame_id = "/map";
+		text.header.frame_id = "map";
 		text.header.stamp = ros::Time::now();
 		// Set the namespace and id for this marker.  This serves to create a unique ID
 		// Any marker sent with the same namespace and id will overwrite the old one
@@ -703,7 +703,7 @@ void RoomSequencePlanningServer::publishSequenceVisualization(const std::vector<
 		{
 			visualization_msgs::Marker arrow;
 			// Set the frame ID and timestamp.  See the TF tutorials for information on these.
-			arrow.header.frame_id = "/map";
+			arrow.header.frame_id = "map";
 			arrow.header.stamp = ros::Time::now();
 			// Set the namespace and id for this marker.  This serves to create a unique ID
 			// Any marker sent with the same namespace and id will overwrite the old one
@@ -754,7 +754,7 @@ void RoomSequencePlanningServer::publishSequenceVisualization(const std::vector<
 			// prepare room center circle message
 			visualization_msgs::Marker circle;
 			// Set the frame ID and timestamp.  See the TF tutorials for information on these.
-			circle.header.frame_id = "/map";
+			circle.header.frame_id = "map";
 			circle.header.stamp = ros::Time::now();
 			// Set the namespace and id for this marker.  This serves to create a unique ID
 			// Any marker sent with the same namespace and id will overwrite the old one
@@ -787,7 +787,7 @@ void RoomSequencePlanningServer::publishSequenceVisualization(const std::vector<
 			// prepare room center text message
 			visualization_msgs::Marker text;
 			// Set the frame ID and timestamp.  See the TF tutorials for information on these.
-			text.header.frame_id = "/map";
+			text.header.frame_id = "map";
 			text.header.stamp = ros::Time::now();
 			// Set the namespace and id for this marker.  This serves to create a unique ID
 			// Any marker sent with the same namespace and id will overwrite the old one
@@ -823,7 +823,7 @@ void RoomSequencePlanningServer::publishSequenceVisualization(const std::vector<
 			// prepare room center to clique center line message
 			visualization_msgs::Marker arrow;
 			// Set the frame ID and timestamp.  See the TF tutorials for information on these.
-			arrow.header.frame_id = "/map";
+			arrow.header.frame_id = "map";
 			arrow.header.stamp = ros::Time::now();
 			// Set the namespace and id for this marker.  This serves to create a unique ID
 			// Any marker sent with the same namespace and id will overwrite the old one
diff --git a/ipa_room_exploration/ros/launch/cob_map_accessibility_analysis_params.yaml b/ipa_room_exploration/ros/launch/cob_map_accessibility_analysis_params.yaml
index cb9501e1..b50aa2fc 100644
--- a/ipa_room_exploration/ros/launch/cob_map_accessibility_analysis_params.yaml
+++ b/ipa_room_exploration/ros/launch/cob_map_accessibility_analysis_params.yaml
@@ -4,11 +4,11 @@ approach_path_accessibility_check: true
 
 # link name of the map in tf
 # string
-map_link_name: "/map"
+map_link_name: "map"
 
 # link name of the robot base in tf
 # string
-robot_base_link_name: "/base_footprint"
+robot_base_link_name: "base_footprint"
 
 # update rate for incoming messages about obstacles (provided in [Hz])
 # double
diff --git a/ipa_room_exploration/ros/src/coverage_monitor_server.cpp b/ipa_room_exploration/ros/src/coverage_monitor_server.cpp
index b658e0d1..3467e6de 100644
--- a/ipa_room_exploration/ros/src/coverage_monitor_server.cpp
+++ b/ipa_room_exploration/ros/src/coverage_monitor_server.cpp
@@ -126,7 +126,7 @@ class CoverageMonitor
 		// prepare coverage_marker_msg message
 		visualization_msgs::Marker coverage_marker_msg;
 		// Set the frame ID and timestamp.  See the TF tutorials for information on these.
-		coverage_marker_msg.header.frame_id = "/map";
+		coverage_marker_msg.header.frame_id = "map";
 		coverage_marker_msg.header.stamp = ros::Time::now();
 		// Set the namespace and id for this marker.  This serves to create a unique ID
 		// Any marker sent with the same namespace and id will overwrite the old one
@@ -160,7 +160,7 @@ class CoverageMonitor
 		// prepare computed_trajectory_marker_msg message
 		visualization_msgs::Marker computed_trajectory_marker_msg;
 		// Set the frame ID and timestamp.  See the TF tutorials for information on these.
-		computed_trajectory_marker_msg.header.frame_id = "/map";
+		computed_trajectory_marker_msg.header.frame_id = "map";
 		computed_trajectory_marker_msg.header.stamp = ros::Time::now();
 		// Set the namespace and id for this marker.  This serves to create a unique ID
 		// Any marker sent with the same namespace and id will overwrite the old one
@@ -193,7 +193,7 @@ class CoverageMonitor
 		// prepare commanded_trajectory_marker_msg message
 		visualization_msgs::Marker commanded_trajectory_marker_msg;
 		// Set the frame ID and timestamp.  See the TF tutorials for information on these.
-		commanded_trajectory_marker_msg.header.frame_id = "/map";
+		commanded_trajectory_marker_msg.header.frame_id = "map";
 		commanded_trajectory_marker_msg.header.stamp = ros::Time::now();
 		// Set the namespace and id for this marker.  This serves to create a unique ID
 		// Any marker sent with the same namespace and id will overwrite the old one
diff --git a/ipa_room_exploration/ros/src/room_exploration_action_server.cpp b/ipa_room_exploration/ros/src/room_exploration_action_server.cpp
index 0a0419de..92e7c76e 100644
--- a/ipa_room_exploration/ros/src/room_exploration_action_server.cpp
+++ b/ipa_room_exploration/ros/src/room_exploration_action_server.cpp
@@ -593,7 +593,7 @@ void RoomExplorationServer::exploreRoom(const ipa_building_msgs::RoomExploration
 		std::vector<geometry_msgs::PoseStamped> exploration_path_pose_stamped(exploration_path.size());
 		std_msgs::Header header;
 		header.stamp = ros::Time::now();
-		header.frame_id = "/map";
+		header.frame_id = "map";
 		for (size_t i=0; i<exploration_path.size(); ++i)
 		{
 			exploration_path_pose_stamped[i].header = header;