diff --git a/src/airspace.cc b/src/airspace.cc
index 69c7c03643c3223c88483d2ee188a1684c370883..4f4d04e7aad99910f0801487b5a2d0f441ec6ecb 100644
--- a/src/airspace.cc
+++ b/src/airspace.cc
@@ -270,7 +270,7 @@ bool AirSpace::book (std::string asns, geometry_msgs::PointStamped ps0,
     for (unsigned int i=1; i<path.size(); i++) {
       geometry_msgs::PointStamped ps;
       ps.header.stamp = ros::Time::now();
-      ps.header.frame_id = "/world";
+      ps.header.frame_id = "world";
       ps.point = path[i];
       sequence_line_end_points.push_back(ps);
     }
@@ -365,7 +365,7 @@ bool AirSpace::book (std::string asns, std::vector<geometry_msgs::PointStamped>
       line_ids.push_back(sids[j-1]);
       geometry_msgs::PointStamped ps;
       ps.header.stamp = ros::Time::now();
-      ps.header.frame_id = "/world";
+      ps.header.frame_id = "world";
       ps.point = spath[j];
       sequence_line_end_points.push_back(ps);
     }
diff --git a/src/geoconvertros.cc b/src/geoconvertros.cc
index 79b0544b685c0c1c47d75ccc458102bb26705d7d..df04228657b68934805c8b0756fc5a70a5898022 100644
--- a/src/geoconvertros.cc
+++ b/src/geoconvertros.cc
@@ -482,7 +482,7 @@ geographic_msgs::GeoPoint GeoConvertRos::to_geopoint(geometry_msgs::PointStamped
 geographic_msgs::GeoPoint GeoConvertRos::to_geopoint(geometry_msgs::Point pin) {
   geometry_msgs::PointStamped pointin;
   pointin.point = pin;
-  pointin.header.frame_id = "/world";
+  pointin.header.frame_id = "world";
   pointin.header.stamp = ros::Time::now();
   return to_geopoint(pointin);
 }