diff --git a/src/stageros.cpp b/src/stageros.cpp
index b6a5869..ef14284 100644
--- a/src/stageros.cpp
+++ b/src/stageros.cpp
@@ -132,6 +132,14 @@ class StageNode
     ros::Time base_last_cmd;
     ros::Duration base_watchdog_timeout;
 
+    std::string odom_frame_id_;
+
+    std::string base_frame_id_;
+
+    std::string base_frame_footprint_id_;
+
+    std::string base_laser_frame_id_;
+
     // Current simulation time
     ros::Time sim_time;
     
@@ -277,6 +285,18 @@ StageNode::StageNode(int argc, char** argv, bool gui, const char* fname, bool us
         t = 0.2;
     this->base_watchdog_timeout.fromSec(t);
 
+    if(!localn.getParam("odom_frame_id", this->odom_frame_id_))
+        this->odom_frame_id_="odom";
+
+    if(!localn.getParam("base_frame_id", this->base_frame_id_))
+        this->base_frame_id_="base_link";
+
+    if(!localn.getParam("base_frame_footprint_id", this->base_frame_footprint_id_))
+        this->base_frame_footprint_id_="base_footprint_link";
+
+    if(!localn.getParam("base_laser_frame_id", this->base_laser_frame_id_))
+        this->base_laser_frame_id_="base_laser_link";
+
     if(!localn.getParam("is_depth_canonical", isDepthCanonical))
         isDepthCanonical = true;
 
@@ -450,7 +470,7 @@ StageNode::WorldCallback()
                 msg.angle_max = +sensor.fov/2.0;
                 msg.angle_increment = sensor.fov/(double)(sensor.sample_count-1);
                 msg.range_min = sensor.range.min;
-                msg.range_max = sensor.range.max;
+                msg.range_max = sensor.range.max - 0.1;
                 msg.ranges.resize(sensor.ranges.size());
                 msg.intensities.resize(sensor.intensities.size());
 
@@ -461,9 +481,9 @@ StageNode::WorldCallback()
                 }
 
                 if (robotmodel->lasermodels.size() > 1)
-                    msg.header.frame_id = mapName("base_laser_link", r, s, static_cast<Stg::Model*>(robotmodel->positionmodel));
+                    msg.header.frame_id = mapName(this->base_laser_frame_id_.c_str(), r, s, static_cast<Stg::Model*>(robotmodel->positionmodel));
                 else
-                    msg.header.frame_id = mapName("base_laser_link", r, static_cast<Stg::Model*>(robotmodel->positionmodel));
+                    msg.header.frame_id = mapName(this->base_laser_frame_id_.c_str(), r, static_cast<Stg::Model*>(robotmodel->positionmodel));
 
                 msg.header.stamp = sim_time;
                 robotmodel->laser_pubs[s].publish(msg);
@@ -478,19 +498,19 @@ StageNode::WorldCallback()
 
             if (robotmodel->lasermodels.size() > 1)
                 tf.sendTransform(tf::StampedTransform(txLaser, sim_time,
-                                                      mapName("base_link", r, static_cast<Stg::Model*>(robotmodel->positionmodel)),
-                                                      mapName("base_laser_link", r, s, static_cast<Stg::Model*>(robotmodel->positionmodel))));
+                                                      mapName(this->base_frame_id_.c_str(), r, static_cast<Stg::Model*>(robotmodel->positionmodel)),
+                                                      mapName(this->base_laser_frame_id_.c_str(), r, s, static_cast<Stg::Model*>(robotmodel->positionmodel))));
             else
                 tf.sendTransform(tf::StampedTransform(txLaser, sim_time,
-                                                      mapName("base_link", r, static_cast<Stg::Model*>(robotmodel->positionmodel)),
-                                                      mapName("base_laser_link", r, static_cast<Stg::Model*>(robotmodel->positionmodel))));
+                                                      mapName(this->base_frame_id_.c_str(), r, static_cast<Stg::Model*>(robotmodel->positionmodel)),
+                                                      mapName(this->base_laser_frame_id_.c_str(), r, static_cast<Stg::Model*>(robotmodel->positionmodel))));
         }
 
         //the position of the robot
         tf.sendTransform(tf::StampedTransform(tf::Transform::getIdentity(),
                                               sim_time,
-                                              mapName("base_footprint", r, static_cast<Stg::Model*>(robotmodel->positionmodel)),
-                                              mapName("base_link", r, static_cast<Stg::Model*>(robotmodel->positionmodel))));
+                                              mapName( this->base_frame_footprint_id_.c_str(), r, static_cast<Stg::Model*>(robotmodel->positionmodel)),
+                                              mapName(this->base_frame_id_.c_str(), r, static_cast<Stg::Model*>(robotmodel->positionmodel))));
 
         // Get latest odometry data
         // Translate into ROS message format and publish
@@ -506,7 +526,7 @@ StageNode::WorldCallback()
         //@todo Publish stall on a separate topic when one becomes available
         //this->odomMsgs[r].stall = this->positionmodels[r]->Stall();
         //
-        odom_msg.header.frame_id = mapName("odom", r, static_cast<Stg::Model*>(robotmodel->positionmodel));
+        odom_msg.header.frame_id = mapName(this->odom_frame_id_.c_str(), r, static_cast<Stg::Model*>(robotmodel->positionmodel));
         odom_msg.header.stamp = sim_time;
 
         robotmodel->odom_pub.publish(odom_msg);
@@ -516,8 +536,8 @@ StageNode::WorldCallback()
         tf::quaternionMsgToTF(odom_msg.pose.pose.orientation, odomQ);
         tf::Transform txOdom(odomQ, tf::Point(odom_msg.pose.pose.position.x, odom_msg.pose.pose.position.y, 0.0));
         tf.sendTransform(tf::StampedTransform(txOdom, sim_time,
-                                              mapName("odom", r, static_cast<Stg::Model*>(robotmodel->positionmodel)),
-                                              mapName("base_footprint", r, static_cast<Stg::Model*>(robotmodel->positionmodel))));
+                                              mapName(this->odom_frame_id_.c_str(), r, static_cast<Stg::Model*>(robotmodel->positionmodel)),
+                                              mapName(this->base_frame_footprint_id_.c_str(), r, static_cast<Stg::Model*>(robotmodel->positionmodel))));
 
         // Also publish the ground truth pose and velocity
         Stg::Pose gpose = robotmodel->positionmodel->GetGlobalPose();
@@ -553,7 +573,7 @@ StageNode::WorldCallback()
         ground_truth_msg.twist.twist.linear.z = gvel.z;
         ground_truth_msg.twist.twist.angular.z = gvel.a;
 
-        ground_truth_msg.header.frame_id = mapName("odom", r, static_cast<Stg::Model*>(robotmodel->positionmodel));
+        ground_truth_msg.header.frame_id = mapName(this->odom_frame_id_.c_str(), r, static_cast<Stg::Model*>(robotmodel->positionmodel));
         ground_truth_msg.header.stamp = sim_time;
 
         robotmodel->ground_truth_pub.publish(ground_truth_msg);
@@ -671,11 +691,11 @@ StageNode::WorldCallback()
 
                 if (robotmodel->cameramodels.size() > 1)
                     tf.sendTransform(tf::StampedTransform(tr, sim_time,
-                                                          mapName("base_link", r, static_cast<Stg::Model*>(robotmodel->positionmodel)),
+                                                          mapName(this->base_frame_id_.c_str(), r, static_cast<Stg::Model*>(robotmodel->positionmodel)),
                                                           mapName("camera", r, s, static_cast<Stg::Model*>(robotmodel->positionmodel))));
                 else
                     tf.sendTransform(tf::StampedTransform(tr, sim_time,
-                                                          mapName("base_link", r, static_cast<Stg::Model*>(robotmodel->positionmodel)),
+                                                          mapName(this->base_frame_id_.c_str(), r, static_cast<Stg::Model*>(robotmodel->positionmodel)),
                                                           mapName("camera", r, static_cast<Stg::Model*>(robotmodel->positionmodel))));
 
                 sensor_msgs::CameraInfo camera_msg;