diff --git a/launch/openni2.launch b/launch/openni2.launch
index 9c40040..b9c1bac 100644
--- a/launch/openni2.launch
+++ b/launch/openni2.launch
@@ -4,9 +4,8 @@
   <!-- "camera" should uniquely identify the device. All topics are pushed down
        into the "camera" namespace, and it is prepended to tf frame ids. -->
   <arg name="camera" default="camera" />
-  <arg name="tf_prefix" default="" />
-  <arg name="rgb_frame_id"   default="$(arg tf_prefix)/$(arg camera)_rgb_optical_frame" />
-  <arg name="depth_frame_id" default="$(arg tf_prefix)/$(arg camera)_depth_optical_frame" />
+  <arg name="rgb_frame_id"   default="$(arg camera)_rgb_optical_frame" />
+  <arg name="depth_frame_id" default="$(arg camera)_depth_optical_frame" />
 
   <!-- device_id can have the following formats:
          "#1"  : the first device found
@@ -111,7 +110,6 @@
   <include if="$(arg publish_tf)"
 	   file="$(find rgbd_launch)/launch/kinect_frames.launch">
     <arg name="camera" value="$(arg camera)" />
-    <arg name="tf_prefix" value="$(arg tf_prefix)" />
   </include>
 
 </launch>