diff --git a/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp
index 42b6cda8e1..296e00ff0a 100644
--- a/diff_drive_controller/src/diff_drive_controller.cpp
+++ b/diff_drive_controller/src/diff_drive_controller.cpp
@@ -385,6 +385,15 @@ controller_interface::CallbackReturn DiffDriveController::on_configure(
   const auto odom_frame_id = tf_prefix + params_.odom_frame_id;
   const auto base_frame_id = tf_prefix + params_.base_frame_id;
 
+  for (auto & joint_name : params_.left_wheel_names)
+  {
+    joint_name = tf_prefix + joint_name;
+  }
+  for (auto & joint_name : params_.right_wheel_names)
+  {
+    joint_name = tf_prefix + joint_name;
+  }
+
   auto & odometry_message = realtime_odometry_publisher_->msg_;
   odometry_message.header.frame_id = odom_frame_id;
   odometry_message.child_frame_id = base_frame_id;