diff --git a/models/curiosity_path/urdf/curiosity_mars_rover.gazebo b/models/curiosity_path/urdf/curiosity_mars_rover.gazebo
index 883e8b2..438f554 100644
--- a/models/curiosity_path/urdf/curiosity_mars_rover.gazebo
+++ b/models/curiosity_path/urdf/curiosity_mars_rover.gazebo
@@ -139,8 +139,8 @@
       </plugin>
 
       <plugin filename="ignition-gazebo-odometry-publisher-system" name="ignition::gazebo::systems::OdometryPublisher">
-          <odom_frame>/odom</odom_frame>
-          <robot_base_frame>/base_footprint</robot_base_frame>
+          <odom_frame>odom</odom_frame>
+          <robot_base_frame>base_footprint</robot_base_frame>
           <odom_publish_frequency>10</odom_publish_frequency>
       </plugin>
 
diff --git a/models/lunar_pole_exploration_rover/urdf/lunar_pole_exploration_rover.gazebo b/models/lunar_pole_exploration_rover/urdf/lunar_pole_exploration_rover.gazebo
index ae37bb3..030c5c1 100644
--- a/models/lunar_pole_exploration_rover/urdf/lunar_pole_exploration_rover.gazebo
+++ b/models/lunar_pole_exploration_rover/urdf/lunar_pole_exploration_rover.gazebo
@@ -91,8 +91,8 @@
         </plugin>
 
         <plugin filename="${system_prefix}-odometry-publisher-system" name="${system_namespace}::systems::OdometryPublisher">
-            <odom_frame>/odom</odom_frame>
-            <robot_base_frame>/base_footprint</robot_base_frame>
+            <odom_frame>odom</odom_frame>
+            <robot_base_frame>base_footprint</robot_base_frame>
             <odom_publish_frequency>10</odom_publish_frequency>
         </plugin>