diff --git a/launch/map.launch b/launch/map.launch
index c35d6a5..00c301b 100644
--- a/launch/map.launch
+++ b/launch/map.launch
@@ -3,7 +3,7 @@
   <arg name="map"        default=""/>
   <arg name="symlink"    default=""/>
   <arg name="multiple" default="false"/>
-  <arg name="tf_prefix" default=""/>
+  <arg name="robot_namespace" default=""/>
 
   <arg name="octomap"    default="false"/>
 
diff --git a/scripts/navigation.sh b/scripts/navigation.sh
index 3dc9602..f1b8878 100755
--- a/scripts/navigation.sh
+++ b/scripts/navigation.sh
@@ -45,19 +45,19 @@ fi
 
 if [ $# -lt 7 ]; then
   MULTI="false"
-  TF_PREFIX=""
+  ROBOT_NAMESPACE=""
 else 
   if [ "$7" = "true" ]; then
     if [ $# -lt 8 ]; then
-      echo "If MULTI is true I need the tf_prefix"
+      echo "If MULTI is true I need the robot_namespace"
       exit 1
     else
       MULTI="true"
-      TF_PREFIX=$8
+      ROBOT_NAMESPACE=$8
     fi
   else 
     MULTI="false"
-    TF_PREFIX=""
+    ROBOT_NAMESPACE=""
   fi
 fi
 
@@ -75,7 +75,7 @@ if [ ! -f "$HOME/.pal/pose.yaml" ]; then
 fi
 
 # Run localization/mapping
-roslaunch ${ROBOT}_2dnav_gazebo $STATE.launch localization:=$LOCALIZATION mapping:=$MAPPING map:=$MAP multiple:=$MULTI tf_prefix:=$TF_PREFIX
+roslaunch ${ROBOT}_2dnav_gazebo $STATE.launch localization:=$LOCALIZATION mapping:=$MAPPING map:=$MAP multiple:=$MULTI robot_namespace:=$ROBOT_NAMESPACE