diff --git a/hebiros/src/hebiros.cpp b/hebiros/src/hebiros.cpp
index 96e7711..8788592 100644
--- a/hebiros/src/hebiros.cpp
+++ b/hebiros/src/hebiros.cpp
@@ -29,12 +29,12 @@ HebirosNode::HebirosNode (int argc, char **argv) {
   }
 
   if (use_gazebo) {
-    HebirosParameters::setBool("/use_sim_time", true);
+    HebirosParameters::setBool("use_sim_time", true);
     services_gazebo.registerNodeServices();
     clients.registerNodeClients();
   }
   else {
-    HebirosParameters::setBool("/use_sim_time", false);
+    HebirosParameters::setBool("use_sim_time", false);
     services_physical.registerNodeServices();
   }
 
@@ -47,7 +47,7 @@ void HebirosNode::cleanup() {
 }
 
 void HebirosNode::loop() {
-  ros::Rate loop_rate(HebirosParameters::getInt("/hebiros/node_frequency"));
+  ros::Rate loop_rate(HebirosParameters::getInt("hebiros/node_frequency"));
 
   while(ros::ok()) {
     ros::spinOnce();
diff --git a/hebiros/src/hebiros_actions.cpp b/hebiros/src/hebiros_actions.cpp
index d318535..391f9e5 100644
--- a/hebiros/src/hebiros_actions.cpp
+++ b/hebiros/src/hebiros_actions.cpp
@@ -14,7 +14,7 @@ void HebirosActions::registerGroupActions(std::string group_name) {
 
   trajectory_actions[group_name] = std::make_shared<
     actionlib::SimpleActionServer<TrajectoryAction>>(
-    *HebirosNode::n_ptr, "/hebiros/"+group_name+"/trajectory",
+    *HebirosNode::n_ptr, "hebiros/"+group_name+"/trajectory",
     boost::bind(&HebirosActions::trajectory, this, _1, group_name), false);
 
   trajectory_actions[group_name]->start();
@@ -75,7 +75,7 @@ void HebirosActions::trajectory(const TrajectoryGoalConstPtr& goal, std::string
   double loop_duration;
   TrajectoryFeedback feedback;
 
-  ros::Rate loop_rate(HebirosParameters::getInt("/hebiros/action_frequency"));
+  ros::Rate loop_rate(HebirosParameters::getInt("hebiros/action_frequency"));
 
   ROS_INFO("Group [%s]: Executing trajectory", group_name.c_str());
   previous_time = ros::Time::now().toSec();
diff --git a/hebiros/src/hebiros_clients.cpp b/hebiros/src/hebiros_clients.cpp
index a1df994..b6d29c2 100644
--- a/hebiros/src/hebiros_clients.cpp
+++ b/hebiros/src/hebiros_clients.cpp
@@ -9,30 +9,30 @@ std::map<std::string, ros::ServiceClient> HebirosClients::clients;
 
 void HebirosClients::registerNodeClients() {
 
-  clients["/hebiros_gazebo_plugin/add_group"] =
-    HebirosNode::n_ptr->serviceClient<AddGroupFromNamesSrv>("/hebiros_gazebo_plugin/add_group");
+  clients["hebiros_gazebo_plugin/add_group"] =
+    HebirosNode::n_ptr->serviceClient<AddGroupFromNamesSrv>("hebiros_gazebo_plugin/add_group");
 }
 
 void HebirosClients::registerGroupClients(std::string group_name) {
 
-  clients["/hebiros_gazebo_plugin/set_command_lifetime/"+group_name] =
+  clients["hebiros_gazebo_plugin/set_command_lifetime/"+group_name] =
     HebirosNode::n_ptr->serviceClient<SetCommandLifetimeSrv>(
-    "/hebiros_gazebo_plugin/set_command_lifetime/"+group_name);
+    "hebiros_gazebo_plugin/set_command_lifetime/"+group_name);
 
-  clients["/hebiros_gazebo_plugin/set_feedback_frequency/"+group_name] =
+  clients["hebiros_gazebo_plugin/set_feedback_frequency/"+group_name] =
     HebirosNode::n_ptr->serviceClient<SetFeedbackFrequencySrv>(
-    "/hebiros_gazebo_plugin/set_feedback_frequency/"+group_name);
+    "hebiros_gazebo_plugin/set_feedback_frequency/"+group_name);
 
-  clients["/hebiros_gazebo_plugin/acknowledge/"+group_name] =
+  clients["hebiros_gazebo_plugin/acknowledge/"+group_name] =
     HebirosNode::n_ptr->serviceClient<std_srvs::Empty>(
-    "/hebiros_gazebo_plugin/acknowledge/"+group_name);
+    "hebiros_gazebo_plugin/acknowledge/"+group_name);
 }
 
 bool HebirosClients::addGroup(AddGroupFromNamesSrv::Request &req) {
 
   AddGroupFromNamesSrv srv;
   srv.request = req;
-  return clients["/hebiros_gazebo_plugin/add_group"].call(srv);
+  return clients["hebiros_gazebo_plugin/add_group"].call(srv);
 }
 
 bool HebirosClients::setCommandLifetime(SetCommandLifetimeSrv::Request &req,
@@ -40,7 +40,7 @@ bool HebirosClients::setCommandLifetime(SetCommandLifetimeSrv::Request &req,
 
   SetCommandLifetimeSrv srv;
   srv.request = req;
-  return clients["/hebiros_gazebo_plugin/set_feedback_frequency/"+group_name].call(srv);
+  return clients["hebiros_gazebo_plugin/set_feedback_frequency/"+group_name].call(srv);
 }
 
 bool HebirosClients::setFeedbackFrequency(SetFeedbackFrequencySrv::Request &req,
@@ -48,7 +48,7 @@ bool HebirosClients::setFeedbackFrequency(SetFeedbackFrequencySrv::Request &req,
 
   SetFeedbackFrequencySrv srv;
   srv.request = req;
-  return clients["/hebiros_gazebo_plugin/set_feedback_frequency/"+group_name].call(srv);
+  return clients["hebiros_gazebo_plugin/set_feedback_frequency/"+group_name].call(srv);
 }
 
 bool HebirosClients::acknowledge(std_srvs::Empty::Request &req,
@@ -56,5 +56,5 @@ bool HebirosClients::acknowledge(std_srvs::Empty::Request &req,
 
   std_srvs::Empty srv;
   srv.request = req;
-  return clients["/hebiros_gazebo_plugin/acknowledge/"+group_name].call(srv);
+  return clients["hebiros_gazebo_plugin/acknowledge/"+group_name].call(srv);
 }
diff --git a/hebiros/src/hebiros_parameters.cpp b/hebiros/src/hebiros_parameters.cpp
index 8ed9dfd..abe8927 100644
--- a/hebiros/src/hebiros_parameters.cpp
+++ b/hebiros/src/hebiros_parameters.cpp
@@ -4,27 +4,27 @@
 
 
 std::map<std::string, bool> HebirosParameters::bool_parameters_default =
-  {{"/use_sim_time", false}};
+  {{"use_sim_time", false}};
 std::map<std::string, bool> HebirosParameters::bool_parameters;
 std::map<std::string, int> HebirosParameters::int_parameters_default =
-  {{"/hebiros/node_frequency", 200},
-   {"/hebiros/action_frequency", 200},
-   {"/hebiros/feedback_frequency", 100},
-   {"/hebiros/command_lifetime", 100}};
+  {{"hebiros/node_frequency", 200},
+   {"hebiros/action_frequency", 200},
+   {"hebiros/feedback_frequency", 100},
+   {"hebiros/command_lifetime", 100}};
 std::map<std::string, int> HebirosParameters::int_parameters;
 
 void HebirosParameters::setNodeParameters() {
 
-  loadInt("/hebiros/node_frequency");
-  loadInt("/hebiros/action_frequency");
-  loadInt("/hebiros/feedback_frequency");
-  loadInt("/hebiros/command_lifetime");
+  loadInt("hebiros/node_frequency");
+  loadInt("hebiros/action_frequency");
+  loadInt("hebiros/feedback_frequency");
+  loadInt("hebiros/command_lifetime");
 
   ROS_INFO("Parameters:");
-  ROS_INFO("/hebiros/node_frequency=%d", getInt("/hebiros/node_frequency"));
-  ROS_INFO("/hebiros/action_frequency=%d", getInt("/hebiros/action_frequency"));
-  ROS_INFO("/hebiros/feedback_frequency=%d", getInt("/hebiros/feedback_frequency"));
-  ROS_INFO("/hebiros/command_lifetime=%d", getInt("/hebiros/command_lifetime"));
+  ROS_INFO("hebiros/node_frequency=%d", getInt("hebiros/node_frequency"));
+  ROS_INFO("hebiros/action_frequency=%d", getInt("hebiros/action_frequency"));
+  ROS_INFO("hebiros/feedback_frequency=%d", getInt("hebiros/feedback_frequency"));
+  ROS_INFO("hebiros/command_lifetime=%d", getInt("hebiros/command_lifetime"));
 }
 
 void HebirosParameters::loadBool(std::string name) {
diff --git a/hebiros/src/hebiros_publishers.cpp b/hebiros/src/hebiros_publishers.cpp
index 14524cd..ecdc73f 100644
--- a/hebiros/src/hebiros_publishers.cpp
+++ b/hebiros/src/hebiros_publishers.cpp
@@ -10,30 +10,30 @@ std::map<std::string, ros::Publisher> HebirosPublishers::publishers;
 
 void HebirosPublishers::registerGroupPublishers(std::string group_name) {
 
-  publishers["/hebiros/"+group_name+"/feedback"] =
-    HebirosNode::n_ptr->advertise<FeedbackMsg>("/hebiros/"+group_name+"/feedback", 100);
+  publishers["hebiros/"+group_name+"/feedback"] =
+    HebirosNode::n_ptr->advertise<FeedbackMsg>("hebiros/"+group_name+"/feedback", 100);
 
-  publishers["/hebiros/"+group_name+"/feedback/joint_state"] =
+  publishers["hebiros/"+group_name+"/feedback/joint_state"] =
     HebirosNode::n_ptr->advertise<sensor_msgs::JointState>(
-    "/hebiros/"+group_name+"/feedback/joint_state", 100);
+    "hebiros/"+group_name+"/feedback/joint_state", 100);
 
-  publishers["/hebiros/"+group_name+"/feedback/joint_state_urdf"] =
+  publishers["hebiros/"+group_name+"/feedback/joint_state_urdf"] =
     HebirosNode::n_ptr->advertise<sensor_msgs::JointState>(
-    "/hebiros/"+group_name+"/feedback/joint_state_urdf", 100);
+    "hebiros/"+group_name+"/feedback/joint_state_urdf", 100);
 
-  publishers["/hebiros/"+group_name+"/command/joint_state"] =   
+  publishers["hebiros/"+group_name+"/command/joint_state"] =
     HebirosNode::n_ptr->advertise<sensor_msgs::JointState>(
-    "/hebiros/"+group_name+"/command/joint_state", 100);
+    "hebiros/"+group_name+"/command/joint_state", 100);
 }
 
 
 void HebirosPublishers::feedback(FeedbackMsg feedback_msg, std::string group_name) {
-  publishers["/hebiros/"+group_name+"/feedback"].publish(feedback_msg);
+  publishers["hebiros/"+group_name+"/feedback"].publish(feedback_msg);
 }
 
 void HebirosPublishers::feedbackJointState(sensor_msgs::JointState joint_state_msg,
   std::string group_name) {
-  publishers["/hebiros/"+group_name+"/feedback/joint_state"].publish(joint_state_msg);
+  publishers["hebiros/"+group_name+"/feedback/joint_state"].publish(joint_state_msg);
 
   feedbackJointStateUrdf(joint_state_msg, group_name);
 }
@@ -48,12 +48,11 @@ void HebirosPublishers::feedbackJointStateUrdf(sensor_msgs::JointState joint_sta
       joint_state_msg.name[i] = group->joint_full_names[joint_state_msg.name[i]];
     }
 
-    publishers["/hebiros/"+group_name+"/feedback/joint_state_urdf"].publish(joint_state_msg);
+    publishers["hebiros/"+group_name+"/feedback/joint_state_urdf"].publish(joint_state_msg);
   }
 }
 
 void HebirosPublishers::commandJointState(sensor_msgs::JointState joint_state_msg,
   std::string group_name) {
-  publishers["/hebiros/"+group_name+"/command/joint_state"].publish(joint_state_msg);
+  publishers["hebiros/"+group_name+"/command/joint_state"].publish(joint_state_msg);
 }
-
diff --git a/hebiros/src/hebiros_publishers_gazebo.cpp b/hebiros/src/hebiros_publishers_gazebo.cpp
index 233090a..da8f7c0 100644
--- a/hebiros/src/hebiros_publishers_gazebo.cpp
+++ b/hebiros/src/hebiros_publishers_gazebo.cpp
@@ -7,15 +7,15 @@ using namespace hebiros;
 
 void HebirosPublishersGazebo::registerGroupPublishers(std::string group_name) {
 
-  publishers["/hebiros_gazebo_plugin/command/"+group_name] =   
+  publishers["hebiros_gazebo_plugin/command/"+group_name] =
     HebirosNode::n_ptr->advertise<CommandMsg>(
-    "/hebiros_gazebo_plugin/command/"+group_name, 100);
+    "hebiros_gazebo_plugin/command/"+group_name, 100);
 
   HebirosPublishers::registerGroupPublishers(group_name);
 }
 
 void HebirosPublishersGazebo::command(CommandMsg command_msg, std::string group_name) {
 
-  publishers["/hebiros_gazebo_plugin/command/"+group_name].publish(command_msg);
+  publishers["hebiros_gazebo_plugin/command/"+group_name].publish(command_msg);
 }
 
diff --git a/hebiros/src/hebiros_services.cpp b/hebiros/src/hebiros_services.cpp
index dfceb88..5f829a7 100644
--- a/hebiros/src/hebiros_services.cpp
+++ b/hebiros/src/hebiros_services.cpp
@@ -8,9 +8,9 @@
 std::map<std::string, ros::ServiceServer> HebirosServices::services;
 
 void HebirosServices::registerModelServices(const std::string& model_name) {
-  services["/hebiros/"+model_name+"/fk"] =
+  services["hebiros/"+model_name+"/fk"] =
     HebirosNode::n_ptr->advertiseService<ModelFkSrv::Request, ModelFkSrv::Response>(
-    "/hebiros/"+model_name+"/fk",
+    "hebiros/"+model_name+"/fk",
     boost::bind(&HebirosServices::fk, this, _1, _2, model_name));
 }
 
@@ -124,13 +124,13 @@ bool HebirosServices::size(
   if (!registry.hasGroup(group_name))
   {
     res.size = -1;
-    ROS_INFO("/hebiros/%s not found; could not get size", group_name.c_str());
+    ROS_INFO("hebiros/%s not found; could not get size", group_name.c_str());
     return false;
   }
 
   res.size = registry.getGroup(group_name)->size;
 
-  ROS_INFO("/hebiros/%s size=%d", group_name.c_str(), res.size);
+  ROS_INFO("hebiros/%s size=%d", group_name.c_str(), res.size);
 
   return true;
 }
@@ -139,7 +139,7 @@ bool HebirosServices::setFeedbackFrequency(
   SetFeedbackFrequencySrv::Request &req, SetFeedbackFrequencySrv::Response &res,
   std::string group_name) {
 
-  ROS_INFO("/hebiros/%s feedback_frequency=%d", group_name.c_str(), req.feedback_frequency);
+  ROS_INFO("hebiros/%s feedback_frequency=%d", group_name.c_str(), req.feedback_frequency);
 
   return true;
 }
@@ -148,7 +148,7 @@ bool HebirosServices::setCommandLifetime(
   SetCommandLifetimeSrv::Request &req, SetCommandLifetimeSrv::Response &res,
   std::string group_name) {
 
-  ROS_INFO("/hebiros/%s command_lifetime=%d", group_name.c_str(), req.command_lifetime);
+  ROS_INFO("hebiros/%s command_lifetime=%d", group_name.c_str(), req.command_lifetime);
 
   return true;
 }
diff --git a/hebiros/src/hebiros_services_gazebo.cpp b/hebiros/src/hebiros_services_gazebo.cpp
index 6ef137f..f0c28d0 100644
--- a/hebiros/src/hebiros_services_gazebo.cpp
+++ b/hebiros/src/hebiros_services_gazebo.cpp
@@ -6,42 +6,42 @@
 
 void HebirosServicesGazebo::registerNodeServices() {
 
-  services["/hebiros/entry_list"] = HebirosNode::n_ptr->advertiseService(
-    "/hebiros/entry_list", &HebirosServicesGazebo::entryList, this);
+  services["hebiros/entry_list"] = HebirosNode::n_ptr->advertiseService(
+    "hebiros/entry_list", &HebirosServicesGazebo::entryList, this);
 
-  services["/hebiros/add_group_from_names"] = HebirosNode::n_ptr->advertiseService(
-    "/hebiros/add_group_from_names", &HebirosServicesGazebo::addGroupFromNames, this);
+  services["hebiros/add_group_from_names"] = HebirosNode::n_ptr->advertiseService(
+    "hebiros/add_group_from_names", &HebirosServicesGazebo::addGroupFromNames, this);
 
-  services["/hebiros/add_group_from_urdf"] = HebirosNode::n_ptr->advertiseService(
-    "/hebiros/add_group_from_urdf", &HebirosServicesGazebo::addGroupFromURDF, this);
+  services["hebiros/add_group_from_urdf"] = HebirosNode::n_ptr->advertiseService(
+    "hebiros/add_group_from_urdf", &HebirosServicesGazebo::addGroupFromURDF, this);
 
-  services["/hebiros/add_model_from_urdf"] = HebirosNode::n_ptr->advertiseService(
-    "/hebiros/add_model_from_urdf", &HebirosServicesGazebo::addModelFromURDF, this);
+  services["hebiros/add_model_from_urdf"] = HebirosNode::n_ptr->advertiseService(
+    "hebiros/add_model_from_urdf", &HebirosServicesGazebo::addModelFromURDF, this);
 }
 
 void HebirosServicesGazebo::registerGroupServices(std::string group_name) {
 
-  services["/hebiros/"+group_name+"/size"] =
+  services["hebiros/"+group_name+"/size"] =
     HebirosNode::n_ptr->advertiseService<SizeSrv::Request, SizeSrv::Response>(
-    "/hebiros/"+group_name+"/size",
+    "hebiros/"+group_name+"/size",
     boost::bind(&HebirosServicesGazebo::size, this, _1, _2, group_name));
 
-  services["/hebiros/"+group_name+"/set_feedback_frequency"] =
+  services["hebiros/"+group_name+"/set_feedback_frequency"] =
     HebirosNode::n_ptr->advertiseService<SetFeedbackFrequencySrv::Request,
     SetFeedbackFrequencySrv::Response>(
-    "/hebiros/"+group_name+"/set_feedback_frequency",
+    "hebiros/"+group_name+"/set_feedback_frequency",
     boost::bind(&HebirosServicesGazebo::setFeedbackFrequency, this, _1, _2, group_name));
 
-  services["/hebiros/"+group_name+"/set_command_lifetime"] =
+  services["hebiros/"+group_name+"/set_command_lifetime"] =
     HebirosNode::n_ptr->advertiseService<SetCommandLifetimeSrv::Request,
     SetCommandLifetimeSrv::Response>(
-    "/hebiros/"+group_name+"/set_command_lifetime",
+    "hebiros/"+group_name+"/set_command_lifetime",
     boost::bind(&HebirosServicesGazebo::setCommandLifetime, this, _1, _2, group_name));
 
-  services["/hebiros/"+group_name+"/send_command_with_acknowledgement"] =
+  services["hebiros/"+group_name+"/send_command_with_acknowledgement"] =
     HebirosNode::n_ptr->advertiseService<SendCommandWithAcknowledgementSrv::Request,
     SendCommandWithAcknowledgementSrv::Response>(
-    "/hebiros/"+group_name+"/send_command_with_acknowledgement",
+    "hebiros/"+group_name+"/send_command_with_acknowledgement",
     boost::bind(&HebirosServicesGazebo::sendCommandWithAcknowledgement, this, _1, _2, group_name));
 }
 
diff --git a/hebiros/src/hebiros_services_physical.cpp b/hebiros/src/hebiros_services_physical.cpp
index ada26a8..83979d2 100644
--- a/hebiros/src/hebiros_services_physical.cpp
+++ b/hebiros/src/hebiros_services_physical.cpp
@@ -6,42 +6,42 @@
 
 void HebirosServicesPhysical::registerNodeServices() {
 
-  services["/hebiros/entry_list"] = HebirosNode::n_ptr->advertiseService(
-    "/hebiros/entry_list", &HebirosServicesPhysical::entryList, this);
+  services["hebiros/entry_list"] = HebirosNode::n_ptr->advertiseService(
+    "hebiros/entry_list", &HebirosServicesPhysical::entryList, this);
 
-  services["/hebiros/add_group_from_names"] = HebirosNode::n_ptr->advertiseService(
-    "/hebiros/add_group_from_names", &HebirosServicesPhysical::addGroupFromNames, this);
+  services["hebiros/add_group_from_names"] = HebirosNode::n_ptr->advertiseService(
+    "hebiros/add_group_from_names", &HebirosServicesPhysical::addGroupFromNames, this);
 
-  services["/hebiros/add_group_from_urdf"] = HebirosNode::n_ptr->advertiseService(
-    "/hebiros/add_group_from_urdf", &HebirosServicesPhysical::addGroupFromURDF, this);
+  services["hebiros/add_group_from_urdf"] = HebirosNode::n_ptr->advertiseService(
+    "hebiros/add_group_from_urdf", &HebirosServicesPhysical::addGroupFromURDF, this);
 
-  services["/hebiros/add_model_from_urdf"] = HebirosNode::n_ptr->advertiseService(
-    "/hebiros/add_model_from_urdf", &HebirosServicesPhysical::addModelFromURDF, this);
+  services["hebiros/add_model_from_urdf"] = HebirosNode::n_ptr->advertiseService(
+    "hebiros/add_model_from_urdf", &HebirosServicesPhysical::addModelFromURDF, this);
 }
 
 void HebirosServicesPhysical::registerGroupServices(std::string group_name) {
 
-  services["/hebiros/"+group_name+"/size"] =
+  services["hebiros/"+group_name+"/size"] =
     HebirosNode::n_ptr->advertiseService<SizeSrv::Request, SizeSrv::Response>(
-    "/hebiros/"+group_name+"/size",
+    "hebiros/"+group_name+"/size",
     boost::bind(&HebirosServicesPhysical::size, this, _1, _2, group_name));
 
-  services["/hebiros/"+group_name+"/set_feedback_frequency"] =
+  services["hebiros/"+group_name+"/set_feedback_frequency"] =
     HebirosNode::n_ptr->advertiseService<SetFeedbackFrequencySrv::Request,
     SetFeedbackFrequencySrv::Response>(
-    "/hebiros/"+group_name+"/set_feedback_frequency",
+    "hebiros/"+group_name+"/set_feedback_frequency",
     boost::bind(&HebirosServicesPhysical::setFeedbackFrequency, this, _1, _2, group_name));
 
-  services["/hebiros/"+group_name+"/set_command_lifetime"] =
+  services["hebiros/"+group_name+"/set_command_lifetime"] =
     HebirosNode::n_ptr->advertiseService<SetCommandLifetimeSrv::Request,
     SetCommandLifetimeSrv::Response>(
-    "/hebiros/"+group_name+"/set_command_lifetime",
+    "hebiros/"+group_name+"/set_command_lifetime",
     boost::bind(&HebirosServicesPhysical::setCommandLifetime, this, _1, _2, group_name));
 
-  services["/hebiros/"+group_name+"/send_command_with_acknowledgement"] =
+  services["hebiros/"+group_name+"/send_command_with_acknowledgement"] =
     HebirosNode::n_ptr->advertiseService<SendCommandWithAcknowledgementSrv::Request,
     SendCommandWithAcknowledgementSrv::Response>(
-    "/hebiros/"+group_name+"/send_command_with_acknowledgement",
+    "hebiros/"+group_name+"/send_command_with_acknowledgement",
     boost::bind(&HebirosServicesPhysical::sendCommandWithAcknowledgement, this, _1, _2, group_name));
 }
 
diff --git a/hebiros/src/hebiros_subscribers_gazebo.cpp b/hebiros/src/hebiros_subscribers_gazebo.cpp
index 99c4672..3cb312e 100644
--- a/hebiros/src/hebiros_subscribers_gazebo.cpp
+++ b/hebiros/src/hebiros_subscribers_gazebo.cpp
@@ -7,18 +7,18 @@ using namespace hebiros;
 
 void HebirosSubscribersGazebo::registerGroupSubscribers(std::string group_name) {
 
-  subscribers["/hebiros/"+group_name+"/command"] = 
-    HebirosNode::n_ptr->subscribe<CommandMsg>("/hebiros/"+group_name+"/command", 100,
+  subscribers["hebiros/"+group_name+"/command"] =
+    HebirosNode::n_ptr->subscribe<CommandMsg>("hebiros/"+group_name+"/command", 100,
     boost::bind(&HebirosSubscribersGazebo::command, this, _1, group_name));
 
-  subscribers["/hebiros/"+group_name+"/command/joint_state"] = 
+  subscribers["hebiros/"+group_name+"/command/joint_state"] =
     HebirosNode::n_ptr->subscribe<sensor_msgs::JointState>(
-    "/hebiros/"+group_name+"/command/joint_state", 100,
+    "hebiros/"+group_name+"/command/joint_state", 100,
     boost::bind(&HebirosSubscribersGazebo::jointCommand, this, _1, group_name));
 
-  subscribers["/hebiros_gazebo_plugin/feedback/"+group_name] = 
+  subscribers["hebiros_gazebo_plugin/feedback/"+group_name] =
     HebirosNode::n_ptr->subscribe<FeedbackMsg>(
-    "/hebiros_gazebo_plugin/feedback/"+group_name, 100,
+    "hebiros_gazebo_plugin/feedback/"+group_name, 100,
     boost::bind(&HebirosSubscribersGazebo::feedback, this, _1, group_name));
 }
 
diff --git a/hebiros/src/hebiros_subscribers_physical.cpp b/hebiros/src/hebiros_subscribers_physical.cpp
index 3d57f47..8f34f64 100644
--- a/hebiros/src/hebiros_subscribers_physical.cpp
+++ b/hebiros/src/hebiros_subscribers_physical.cpp
@@ -7,13 +7,13 @@ using namespace hebi;
 
 void HebirosSubscribersPhysical::registerGroupSubscribers(std::string group_name) {
 
-  subscribers["/hebiros/"+group_name+"/command"] = 
-    HebirosNode::n_ptr->subscribe<CommandMsg>("/hebiros/"+group_name+"/command", 100,
+  subscribers["hebiros/"+group_name+"/command"] =
+    HebirosNode::n_ptr->subscribe<CommandMsg>("hebiros/"+group_name+"/command", 100,
     boost::bind(&HebirosSubscribersPhysical::command, this, _1, group_name));
 
-  subscribers["/hebiros/"+group_name+"/command/joint_state"] = 
+  subscribers["hebiros/"+group_name+"/command/joint_state"] =
     HebirosNode::n_ptr->subscribe<sensor_msgs::JointState>(
-    "/hebiros/"+group_name+"/command/joint_state", 100,
+    "hebiros/"+group_name+"/command/joint_state", 100,
     boost::bind(&HebirosSubscribersPhysical::jointCommand, this, _1, group_name));
 
   // TODO: replace with better abstraction later
@@ -31,9 +31,9 @@ void HebirosSubscribersPhysical::registerGroupSubscribers(std::string group_name
   });
 
   group->setFeedbackFrequency(
-    HebirosParameters::getInt("/hebiros/feedback_frequency"));
+    HebirosParameters::getInt("hebiros/feedback_frequency"));
   group->setCommandLifetime(
-    HebirosParameters::getInt("/hebiros/command_lifetime"));
+    HebirosParameters::getInt("hebiros/command_lifetime"));
 }
 
 void HebirosSubscribersPhysical::command(const boost::shared_ptr<CommandMsg const> data,
diff --git a/hebiros_gazebo_plugin/include/hebiros_gazebo_group.cpp b/hebiros_gazebo_plugin/include/hebiros_gazebo_group.cpp
index 11b7728..b1072f9 100644
--- a/hebiros_gazebo_plugin/include/hebiros_gazebo_group.cpp
+++ b/hebiros_gazebo_plugin/include/hebiros_gazebo_group.cpp
@@ -11,22 +11,22 @@ HebirosGazeboGroup::HebirosGazeboGroup(std::string name,
   this->prev_time = current_time;
   this->prev_feedback_time = current_time;
 
-  this->command_sub = n->subscribe<CommandMsg>("/hebiros_gazebo_plugin/command/"+name, 100,
+  this->command_sub = n->subscribe<CommandMsg>("hebiros_gazebo_plugin/command/"+name, 100,
     boost::bind(&HebirosGazeboGroup::SubCommand, this, _1));
 
   this->acknowledge_srv =
     n->advertiseService<std_srvs::Empty::Request, std_srvs::Empty::Response>(
-    "/hebiros_gazebo_plugin/acknowledge/"+name, boost::bind(
+    "hebiros_gazebo_plugin/acknowledge/"+name, boost::bind(
     &HebirosGazeboGroup::SrvAcknowledge, this, _1, _2));
 
   this->command_lifetime_srv =
     n->advertiseService<SetCommandLifetimeSrv::Request, SetCommandLifetimeSrv::Response>(
-    "/hebiros_gazebo_plugin/set_command_lifetime/"+name, boost::bind(
+    "hebiros_gazebo_plugin/set_command_lifetime/"+name, boost::bind(
     &HebirosGazeboGroup::SrvSetCommandLifetime, this, _1, _2));
 
   this->feedback_frequency_srv =
     n->advertiseService<SetFeedbackFrequencySrv::Request, SetFeedbackFrequencySrv::Response>(
-    "/hebiros_gazebo_plugin/set_feedback_frequency/"+name, boost::bind(
+    "hebiros_gazebo_plugin/set_feedback_frequency/"+name, boost::bind(
     &HebirosGazeboGroup::SrvSetFeedbackFrequency, this, _1, _2));
 }
 
diff --git a/hebiros_gazebo_plugin/include/hebiros_gazebo_joint.cpp b/hebiros_gazebo_plugin/include/hebiros_gazebo_joint.cpp
index 167677e..841c650 100644
--- a/hebiros_gazebo_plugin/include/hebiros_gazebo_joint.cpp
+++ b/hebiros_gazebo_plugin/include/hebiros_gazebo_joint.cpp
@@ -10,7 +10,7 @@ HebirosGazeboJoint::HebirosGazeboJoint(std::string name,
   this->name = name;
 
   this->imu_subscriber = n->subscribe<sensor_msgs::Imu>(
-    "/hebiros_gazebo_plugin/imu/"+name,
+    "hebiros_gazebo_plugin/imu/"+name,
     100, boost::bind(&HebirosGazeboJoint::SubIMU, this, _1));
 
 }
diff --git a/hebiros_gazebo_plugin/include/hebiros_gazebo_plugin.h b/hebiros_gazebo_plugin/include/hebiros_gazebo_plugin.h
index 6ec767e..0c37271 100644
--- a/hebiros_gazebo_plugin/include/hebiros_gazebo_plugin.h
+++ b/hebiros_gazebo_plugin/include/hebiros_gazebo_plugin.h
@@ -40,6 +40,7 @@ class HebirosGazeboPlugin: public ModelPlugin {
     std::map<std::string, std::shared_ptr<HebirosGazeboGroup>> hebiros_groups;
     std::map<std::string, std::shared_ptr<HebirosGazeboJoint>> hebiros_joints;
 
+    std::string robot_namespace;
     std::shared_ptr<ros::NodeHandle> n;
     ros::Subscriber command_sub;
     ros::ServiceServer add_group_srv;
diff --git a/hebiros_gazebo_plugin/plugin/hebiros_gazebo_plugin.cpp b/hebiros_gazebo_plugin/plugin/hebiros_gazebo_plugin.cpp
index 27213c1..cc0a346 100644
--- a/hebiros_gazebo_plugin/plugin/hebiros_gazebo_plugin.cpp
+++ b/hebiros_gazebo_plugin/plugin/hebiros_gazebo_plugin.cpp
@@ -14,13 +14,22 @@ void HebirosGazeboPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) {
   int argc = 0;
   char **argv = NULL;
   ros::init(argc, argv, "hebiros_gazebo_plugin_node");
-  this->n.reset(new ros::NodeHandle);
 
   this->add_group_srv =
     this->n->advertiseService<AddGroupFromNamesSrv::Request, AddGroupFromNamesSrv::Response>(
-    "/hebiros_gazebo_plugin/add_group", boost::bind(
+    "hebiros_gazebo_plugin/add_group", boost::bind(
     &HebirosGazeboPlugin::SrvAddGroup, this, _1, _2));
 
+  this->robot_namespace = "";
+  if (_sdf->HasElement("robotNamespace")) {
+    this->robot_namespace = _sdf->GetElement("robotNamespace")->Get<std::string>();
+  }
+  if (this->robot_namespace == "") {
+    this->n.reset(new ros::NodeHandle);
+  } else {
+    this->n.reset(new ros::NodeHandle(this->robot_namespace));
+  }
+
   this->update_connection = event::Events::ConnectWorldUpdateBegin (
     boost::bind(&HebirosGazeboPlugin::OnUpdate, this, _1));
 
@@ -162,7 +171,7 @@ bool HebirosGazeboPlugin::SrvAddGroup(AddGroupFromNamesSrv::Request &req,
   hebiros_group->feedback.gyro.resize(size);
 
   hebiros_group->feedback_pub = this->n->advertise<FeedbackMsg>(
-    "/hebiros_gazebo_plugin/feedback/"+req.group_name, 100);
+    "hebiros_gazebo_plugin/feedback/"+req.group_name, 100);
 
   hebiros_group->group_added = true;