diff --git a/config/bno055_imu_sim_config.yaml b/config/bno055_imu_sim_config.yaml
index 997560290c3969171a5e2a9b50eaa22e86f3a2f4..5eec3c617fc5c387b2ce52465b71d8ca48d91dc4 100644
--- a/config/bno055_imu_sim_config.yaml
+++ b/config/bno055_imu_sim_config.yaml
@@ -1,6 +1,6 @@
 rate: 100.0
 namespace: '/imu'
-tf_prefix: '/bno055'
+tf_prefix: 'bno055'
 imu_topic: 'imu'
 accel_offset_x: 0.08
 accel_offset_y: 0.08
diff --git a/config/microstrain_3dm_gx3_imu_sim_config.yaml b/config/microstrain_3dm_gx3_imu_sim_config.yaml
index e7ea59231fec9fc11dff691a2a3779c5fdf6073a..0f7b963f5bf9d4ce57fee80ad593fbe241ed98a3 100644
--- a/config/microstrain_3dm_gx3_imu_sim_config.yaml
+++ b/config/microstrain_3dm_gx3_imu_sim_config.yaml
@@ -1,6 +1,6 @@
 rate: 100.0
 namespace: '/'
-tf_prefix: '/'
+tf_prefix: ''
 imu_topic: 'imu'
 accel_offset_x: 0.002
 accel_offset_y: 0.002
diff --git a/config/mpu9250_imu_sim_config.yaml b/config/mpu9250_imu_sim_config.yaml
index 38aef696f269ba39fba9be1658b0b8f94b45f4b1..cd093fe5df2fbd87b6260e7f1ea608c312f250a4 100644
--- a/config/mpu9250_imu_sim_config.yaml
+++ b/config/mpu9250_imu_sim_config.yaml
@@ -1,6 +1,6 @@
 rate: 100.0
 namespace: '/imu'
-tf_prefix: '/mpu9250'
+tf_prefix: 'mpu9250'
 imu_topic: 'imu'
 accel_offset_x: 0.06
 accel_offset_y: 0.06
diff --git a/launch/bno055_imu_sim.launch b/launch/bno055_imu_sim.launch
index 1b1c67231a906cf4cff5d4f5d75248497535ba5f..20d187e98b2db9987c1874500159e0dd605f0242 100644
--- a/launch/bno055_imu_sim.launch
+++ b/launch/bno055_imu_sim.launch
@@ -22,8 +22,8 @@
     <param name="robot_description"
            command="$(find xacro)/xacro --inorder '$(find iri_bno055_imu_description)/urdf/bno055_imu_example.xacro'" />
 
-    <node pkg="robot_state_publisher" type="state_publisher" name="bno055_tf_broadcaster">
-      <param name="tf_prefix" type="string" value="/bno055"/>
+    <node pkg="robot_state_publisher" type="robot_state_publisher" name="bno055_tf_broadcaster">
+      <param name="tf_prefix" type="string" value="bno055"/>
       <param name="publish_frequency" type="double" value="20.0"/>
     </node>
   
diff --git a/launch/microstrain_imu_sim.launch b/launch/microstrain_imu_sim.launch
index 2999382738f53f009e6c60c1f7911f2cb65a711d..37ec2c45ebc32d98af8a7f881bdbf8b62493ea86 100644
--- a/launch/microstrain_imu_sim.launch
+++ b/launch/microstrain_imu_sim.launch
@@ -21,8 +21,8 @@
   <param name="robot_description"
          command="$(find xacro)/xacro --inorder '$(find iri_microstrain_imu_description)/urdf/microstrain_imu_example.xacro'" />
 
-  <node pkg="robot_state_publisher" type="state_publisher" name="microstrain_tf_broadcaster">
-    <param name="tf_prefix" type="string" value="/microstrain"/>
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="microstrain_tf_broadcaster">
+    <param name="tf_prefix" type="string" value="microstrain"/>
     <param name="publish_frequency" type="double" value="20.0"/>
   </node>
 
diff --git a/launch/mpu9250_imu_sim.launch b/launch/mpu9250_imu_sim.launch
index 6b25239370a2d8cda13d7781d83da4c4fa8cc35d..488c54040b510f2333a8cdb64b69b6ea32499f42 100644
--- a/launch/mpu9250_imu_sim.launch
+++ b/launch/mpu9250_imu_sim.launch
@@ -22,8 +22,8 @@
     <param name="robot_description"
            command="$(find xacro)/xacro --inorder '$(find iri_mpu9250_imu_description)/urdf/mpu9250_imu_example.xacro'" />
 
-    <node pkg="robot_state_publisher" type="state_publisher" name="mpu9250_tf_broadcaster">
-      <param name="tf_prefix" type="string" value="/mpu9250"/>
+    <node pkg="robot_state_publisher" type="robot_state_publisher" name="mpu9250_tf_broadcaster">
+      <param name="tf_prefix" type="string" value="mpu9250"/>
       <param name="publish_frequency" type="double" value="20.0"/>
     </node>
   
diff --git a/package.xml b/package.xml
index b592e1f3b56c160eef6b9a6d3b87abb208230eb7..672f4b17047aded8baf2bcc997d3bbd13e755c0e 100644
--- a/package.xml
+++ b/package.xml
@@ -50,8 +50,9 @@
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
   <depend>hector_gazebo_plugins</depend>
-  <depend>iri_microstrain_imu_description</depend>
-  <depend>iri_bno055_imu_description</depend>
+  <!--<depend>iri_microstrain_imu_description</depend>-->
+  <!--<depend>iri_bno055_imu_description</depend>-->
+  <!--<depend>iri_mpu9250_imu_description</depend>-->
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>