diff --git a/kobuki_gazebo_plugins/src/gazebo_ros_kobuki_loads.cpp b/kobuki_gazebo_plugins/src/gazebo_ros_kobuki_loads.cpp
index 045d6b7..e368453 100644
--- a/kobuki_gazebo_plugins/src/gazebo_ros_kobuki_loads.cpp
+++ b/kobuki_gazebo_plugins/src/gazebo_ros_kobuki_loads.cpp
@@ -309,6 +309,8 @@ void GazeboRosKobuki::setupRosApi(std::string& model_name)
 {
   std::string base_prefix;
   gazebo_ros_->node()->param("base_prefix", base_prefix, std::string("mobile_base"));
+  if (base_prefix.length() > 0)
+    base_prefix += "/";
 
   // Public topics
 
@@ -325,32 +327,32 @@ void GazeboRosKobuki::setupRosApi(std::string& model_name)
 
   // Private Topics
   // motor power
-  std::string motor_power_topic = base_prefix + "/commands/motor_power";
+  std::string motor_power_topic = base_prefix + "commands/motor_power";
   motor_power_sub_ = gazebo_ros_->node()->subscribe(motor_power_topic, 10, &GazeboRosKobuki::motorPowerCB, this);
   ROS_INFO("%s: Try to subscribe to %s!", gazebo_ros_->info(), motor_power_topic.c_str());
 
   
-  std::string odom_reset_topic = base_prefix + "/commands/reset_odometry";
+  std::string odom_reset_topic = base_prefix + "commands/reset_odometry";
   odom_reset_sub_ = gazebo_ros_->node()->subscribe(odom_reset_topic, 10, &GazeboRosKobuki::resetOdomCB, this);
   ROS_INFO("%s: Try to subscribe to %s!", gazebo_ros_->info(), odom_reset_topic.c_str());
 
   // cmd_vel
-  std::string cmd_vel = base_prefix + "/commands/velocity";
+  std::string cmd_vel = base_prefix + "commands/velocity";
   cmd_vel_sub_ = gazebo_ros_->node()->subscribe(cmd_vel, 100, &GazeboRosKobuki::cmdVelCB, this);
   ROS_INFO("%s: Try to subscribe to %s!", gazebo_ros_->info(), motor_power_topic.c_str());
 
   // cliff
-  std::string cliff_topic = base_prefix + "/events/cliff";
+  std::string cliff_topic = base_prefix + "events/cliff";
   cliff_event_pub_ = gazebo_ros_->node()->advertise<kobuki_msgs::CliffEvent>(cliff_topic, 1);
   ROS_INFO("%s: Advertise Cliff[%s]!", gazebo_ros_->info(), cliff_topic.c_str());
   
   // bumper
-  std::string bumper_topic = base_prefix + "/events/bumper";
+  std::string bumper_topic = base_prefix + "events/bumper";
   bumper_event_pub_ = gazebo_ros_->node()->advertise<kobuki_msgs::BumperEvent>(bumper_topic, 1);
   ROS_INFO("%s: Advertise Bumper[%s]!", gazebo_ros_->info(), bumper_topic.c_str());
 
   // IMU
-  std::string imu_topic = base_prefix + "/sensors/imu_data";
+  std::string imu_topic = base_prefix + "sensors/imu_data";
   imu_pub_ = gazebo_ros_->node()->advertise<sensor_msgs::Imu>(imu_topic, 1);
   ROS_INFO("%s: Advertise IMU[%s]!", gazebo_ros_->info(), imu_topic.c_str());
 }