diff --git a/easynav_simple_controller/src/easynav_simple_controller/PIDController.cpp b/easynav_simple_controller/src/easynav_simple_controller/PIDController.cpp
index cb7669c..61dff23 100644
--- a/easynav_simple_controller/src/easynav_simple_controller/PIDController.cpp
+++ b/easynav_simple_controller/src/easynav_simple_controller/PIDController.cpp
@@ -27,9 +27,9 @@ PIDController::PIDController(double min_ref, double max_ref, double min_output,
   max_output_ = max_output;
   prev_error_ = int_error_ = 0.0;
 
-  KP_ = 0.41;
-  KI_ = 0.06;
-  KD_ = 0.53;
+  KP_ = 0.70;
+  KI_ = 0.15;
+  KD_ = 0.15;
 }
 
 void
diff --git a/easynav_simple_localizer/src/easynav_simple_localizer/AMCLLocalizer.cpp b/easynav_simple_localizer/src/easynav_simple_localizer/AMCLLocalizer.cpp
index e13aa9b..4cc6c19 100644
--- a/easynav_simple_localizer/src/easynav_simple_localizer/AMCLLocalizer.cpp
+++ b/easynav_simple_localizer/src/easynav_simple_localizer/AMCLLocalizer.cpp
@@ -389,7 +389,7 @@ void AMCLLocalizer::correct(NavState & nav_state)
 
   const auto & filtered = PointPerceptionsOpsView(perceptions)
     .downsample(map_static.resolution())
-    .fuse("base_footprint")
+    .fuse(get_tf_prefix() + "base_footprint")
     ->filter({NAN, NAN, 0.1}, {NAN, NAN, NAN})
     .collapse({NAN, NAN, 0.1})
     ->downsample(map_static.resolution())
@@ -527,8 +527,8 @@ AMCLLocalizer::publishTF(const tf2::Transform & map2bf)
 {
   geometry_msgs::msg::TransformStamped tf_msg;
   tf_msg.header.stamp = get_node()->now();
-  tf_msg.header.frame_id = "map";
-  tf_msg.child_frame_id = "odom";
+  tf_msg.header.frame_id = get_tf_prefix() + "map";
+  tf_msg.child_frame_id = get_tf_prefix() + "odom";
   tf_msg.transform = tf2::toMsg(map2bf);
 
   RTTFBuffer::getInstance()->setTransform(tf_msg, "easynav", false);
@@ -540,7 +540,7 @@ AMCLLocalizer::publishParticles()
 {
   geometry_msgs::msg::PoseArray array_msg;
   array_msg.header.stamp = get_node()->now();
-  array_msg.header.frame_id = "map";
+  array_msg.header.frame_id = get_tf_prefix() + "map";
 
   array_msg.poses.reserve(particles_.size());
   for (const auto & p : particles_) {
@@ -601,7 +601,7 @@ AMCLLocalizer::publishEstimatedPose(const tf2::Transform & est_pose)
 
   geometry_msgs::msg::PoseWithCovarianceStamped msg;
   msg.header.stamp = get_node()->now();
-  msg.header.frame_id = "map";
+  msg.header.frame_id = get_tf_prefix() + "map";
 
   msg.pose.pose.position.x = mean.x();
   msg.pose.pose.position.y = mean.y();
@@ -624,8 +624,8 @@ AMCLLocalizer::get_pose()
   nav_msgs::msg::Odometry odom_msg;
 
   odom_msg.header.stamp = get_node()->now();
-  odom_msg.header.frame_id = "map";
-  odom_msg.child_frame_id = "base_footprint";
+  odom_msg.header.frame_id = get_tf_prefix() + "map";
+  odom_msg.child_frame_id = get_tf_prefix() + "base_footprint";
 
   tf2::Transform est_pose = getEstimatedPose();
 
diff --git a/easynav_simple_maps_manager/src/easynav_simple_maps_manager/SimpleMapsManager.cpp b/easynav_simple_maps_manager/src/easynav_simple_maps_manager/SimpleMapsManager.cpp
index 9cc9375..310a226 100644
--- a/easynav_simple_maps_manager/src/easynav_simple_maps_manager/SimpleMapsManager.cpp
+++ b/easynav_simple_maps_manager/src/easynav_simple_maps_manager/SimpleMapsManager.cpp
@@ -81,28 +81,28 @@ SimpleMapsManager::on_initialize()
   }
 
   static_occ_pub_ = node->create_publisher<nav_msgs::msg::OccupancyGrid>(
-    node->get_name() + std::string("/") + plugin_name + "/map",
+    node->get_fully_qualified_name() + std::string("/") + plugin_name + "/map",
     rclcpp::QoS(1).transient_local().reliable());
 
   dynamic_occ_pub_ = node->create_publisher<nav_msgs::msg::OccupancyGrid>(
-    node->get_name() + std::string("/") + plugin_name + "/dynamic_map", 100);
+    node->get_fully_qualified_name() + std::string("/") + plugin_name + "/dynamic_map", 100);
 
   incoming_map_sub_ = node->create_subscription<nav_msgs::msg::OccupancyGrid>(
-    node->get_name() + std::string("/") + plugin_name + "/incoming_map",
+    node->get_fully_qualified_name() + std::string("/") + plugin_name + "/incoming_map",
     rclcpp::QoS(1).transient_local().reliable(),
     [this](nav_msgs::msg::OccupancyGrid::UniquePtr msg) {
       static_map_.from_occupancy_grid(*msg);
       dynamic_map_.from_occupancy_grid(*msg);
 
       static_map_.to_occupancy_grid(static_grid_msg_);
-      static_grid_msg_.header.frame_id = "map";
+      static_grid_msg_.header.frame_id = get_tf_prefix() + "map";
       static_grid_msg_.header.stamp = this->get_node()->now();
 
       static_occ_pub_->publish(static_grid_msg_);
     });
 
   savemap_srv_ = node->create_service<std_srvs::srv::Trigger>(
-    node->get_name() + std::string("/") + plugin_name + "/savemap",
+    node->get_fully_qualified_name() + std::string("/") + plugin_name + "/savemap",
     [this](
       const std::shared_ptr<std_srvs::srv::Trigger::Request> request,
       std::shared_ptr<std_srvs::srv::Trigger::Response> response)
@@ -118,7 +118,7 @@ SimpleMapsManager::on_initialize()
     });
 
   static_map_.to_occupancy_grid(static_grid_msg_);
-  static_grid_msg_.header.frame_id = "map";
+  static_grid_msg_.header.frame_id = get_tf_prefix() + "map";
   static_grid_msg_.header.stamp = node->now();
 
   static_occ_pub_->publish(static_grid_msg_);
@@ -155,7 +155,7 @@ SimpleMapsManager::update(NavState & nav_state)
 
   auto fused = PointPerceptionsOpsView(perceptions)
     .downsample(dynamic_map_.resolution())
-    .fuse("map")
+    .fuse(get_tf_prefix() + "map")
     ->filter({NAN, NAN, 0.1}, {NAN, NAN, NAN})
     .as_points();
 
@@ -170,7 +170,7 @@ SimpleMapsManager::update(NavState & nav_state)
   nav_state.set("map.dynamic", dynamic_map_);
 
   dynamic_map_.to_occupancy_grid(dynamic_grid_msg_);
-  dynamic_grid_msg_.header.frame_id = "map";
+  dynamic_grid_msg_.header.frame_id = get_tf_prefix() + "map";
   dynamic_grid_msg_.header.stamp = get_node()->now();
   dynamic_occ_pub_->publish(dynamic_grid_msg_);
 }