diff --git a/turtlebot3_gazebo/launch/robot_state_publisher.launch.py b/turtlebot3_gazebo/launch/robot_state_publisher.launch.py
index a4827da0..b07eacad 100644
--- a/turtlebot3_gazebo/launch/robot_state_publisher.launch.py
+++ b/turtlebot3_gazebo/launch/robot_state_publisher.launch.py
@@ -56,7 +56,7 @@ def generate_launch_description():
             parameters=[{
                 'use_sim_time': use_sim_time,
                 'robot_description': robot_desc,
-                'frame_prefix': PythonExpression(["'", frame_prefix, "/'"])
+                'frame_prefix': PythonExpression(["'", frame_prefix, "' + '/' if '", frame_prefix, "' != '' else ''"])
             }],
         ),
     ])