diff --git a/src/CoreWrapper.cpp b/src/CoreWrapper.cpp
index 89ffa696..16d63087 100644
--- a/src/CoreWrapper.cpp
+++ b/src/CoreWrapper.cpp
@@ -112,6 +112,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
 	int queueSize = 10;
 	bool publishTf = true;
 	double tfDelay = 0.05; // 20 Hz
+	std::string tfPrefix = "";
 	bool stereoApproxSync = false;
 
 	// ROS related parameters (private)
@@ -144,11 +145,28 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
 
 	pnh.param("publish_tf",          publishTf, publishTf);
 	pnh.param("tf_delay",            tfDelay, tfDelay);
+	pnh.param("tf_prefix",           tfPrefix, tfPrefix);
 	pnh.param("wait_for_transform",  waitForTransform_, waitForTransform_);
 	pnh.param("use_action_for_goal", useActionForGoal_, useActionForGoal_);
 	pnh.param("gen_scan",            genScan_, genScan_);
 	pnh.param("gen_scan_max_depth",  genScanMaxDepth_, genScanMaxDepth_);
 
+	if(!tfPrefix.empty())
+	{
+		if(!frameId_.empty())
+		{
+			frameId_ = tfPrefix+"/"+frameId_;
+		}
+		if(!mapFrameId_.empty())
+		{
+			mapFrameId_ = tfPrefix+"/"+mapFrameId_;
+		}
+		if(!odomFrameId_.empty())
+		{
+			odomFrameId_ = tfPrefix+"/"+odomFrameId_;
+		}
+	}
+
 	if(depthCameras <= 0 && subscribeDepth)
 	{
 		depthCameras = 1;
diff --git a/src/GuiWrapper.cpp b/src/GuiWrapper.cpp
index 7406f923..54a3df51 100644
--- a/src/GuiWrapper.cpp
+++ b/src/GuiWrapper.cpp
@@ -120,6 +120,7 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
 	bool subscribeStereo = false;
 	int queueSize = 10;
 	int depthCameras = 1;
+	std::string tfPrefix;
 	pnh.param("frame_id", frameId_, frameId_);
 	pnh.param("odom_frame_id", odomFrameId_, odomFrameId_); // set to use odom from TF
 	pnh.param("subscribe_depth", subscribeDepth, subscribeDepth);
@@ -128,8 +129,22 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
 	pnh.param("subscribe_stereo", subscribeStereo, subscribeStereo);
 	pnh.param("depth_cameras", depthCameras, depthCameras);
 	pnh.param("queue_size", queueSize, queueSize);
+	pnh.param("tf_prefix", tfPrefix, tfPrefix);
 	pnh.param("wait_for_transform", waitForTransform_, waitForTransform_);
-	pnh.param("camera_node_name", cameraNodeName_, cameraNodeName_); // used to pause the rtabmap/camera when pausing the process
+	pnh.param("camera_node_name", cameraNodeName_, cameraNodeName_); // used to pause the rtabmap_ros/camera when pausing the process
+
+	if(!tfPrefix.empty())
+	{
+		if(!frameId_.empty())
+		{
+			frameId_ = tfPrefix + "/" + frameId_;
+		}
+		if(!odomFrameId_.empty())
+		{
+			odomFrameId_ = tfPrefix + "/" + odomFrameId_;
+		}
+	}
+
 	this->setupCallbacks(
 			subscribeDepth,
 			subscribeLaserScan,
diff --git a/src/MapsManager.cpp b/src/MapsManager.cpp
index 418d4888..dfdbe812 100644
--- a/src/MapsManager.cpp
+++ b/src/MapsManager.cpp
@@ -71,7 +71,7 @@ MapsManager::MapsManager() :
 	// common map stuff
 	pnh.param("map_filter_radius", mapFilterRadius_, mapFilterRadius_);
 	pnh.param("map_filter_angle", mapFilterAngle_, mapFilterAngle_);
-	pnh.param("map_mapsManager_cleanup", mapCacheCleanup_, mapCacheCleanup_);
+	pnh.param("map_cleanup", mapCacheCleanup_, mapCacheCleanup_);
 
 	// mapping topics
 	cloudMapPub_ = nh.advertise<sensor_msgs::PointCloud2>("cloud_map", 1);
diff --git a/src/OdometryROS.cpp b/src/OdometryROS.cpp
index c9e2d5ef..a5bd4d0a 100644
--- a/src/OdometryROS.cpp
+++ b/src/OdometryROS.cpp
@@ -72,12 +72,31 @@ OdometryROS::OdometryROS(int argc, char * argv[]) :
 
 	Transform initialPose = Transform::getIdentity();
 	std::string initialPoseStr;
+	std::string tfPrefix;
 	pnh.param("frame_id", frameId_, frameId_);
 	pnh.param("odom_frame_id", odomFrameId_, odomFrameId_);
 	pnh.param("publish_tf", publishTf_, publishTf_);
+	pnh.param("tf_prefix", tfPrefix, tfPrefix);
 	pnh.param("wait_for_transform", waitForTransform_, waitForTransform_);
 	pnh.param("initial_pose", initialPoseStr, initialPoseStr); // "x y z roll pitch yaw"
 	pnh.param("ground_truth_frame_id", groundTruthFrameId_, groundTruthFrameId_);
+
+	if(!tfPrefix.empty())
+	{
+		if(!frameId_.empty())
+		{
+			frameId_ = tfPrefix + "/" + frameId_;
+		}
+		if(!odomFrameId_.empty())
+		{
+			odomFrameId_ = tfPrefix + "/" + odomFrameId_;
+		}
+		if(!groundTruthFrameId_.empty())
+		{
+			groundTruthFrameId_ = tfPrefix + "/" + groundTruthFrameId_;
+		}
+	}
+
 	if(initialPoseStr.size())
 	{
 		std::vector<std::string> values = uListToVector(uSplit(initialPoseStr, ' '));