diff --git a/gazebo_plugins/src/gazebo_ros_utils.cpp b/gazebo_plugins/src/gazebo_ros_utils.cpp
index 5920f4852..40c795739 100644
--- a/gazebo_plugins/src/gazebo_ros_utils.cpp
+++ b/gazebo_plugins/src/gazebo_ros_utils.cpp
@@ -85,6 +85,11 @@ void GazeboRos ::readCommonParameter() {
 
 
     tf_prefix_ = tf::getPrefixParam(*rosnode_);
+    if(tf_prefix_.empty())
+    {
+        tf_prefix_ = namespace_;
+        boost::trim_right_if(tf_prefix_,boost::is_any_of("/"));
+    }    
     ROS_INFO_NAMED("utils", "%s: <tf_prefix> = %s", info(), tf_prefix_.c_str());
 }