diff --git a/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp
index a64f210503..d007925862 100644
--- a/diff_drive_controller/src/diff_drive_controller.cpp
+++ b/diff_drive_controller/src/diff_drive_controller.cpp
@@ -361,26 +361,22 @@ controller_interface::CallbackReturn DiffDriveController::on_configure(
 
   // Append the tf prefix if there is one
   std::string tf_prefix = "";
-  if (params_.tf_frame_prefix_enable)
+  if (!params_.tf_frame_prefix.empty())
   {
-    if (params_.tf_frame_prefix != "")
-    {
-      tf_prefix = params_.tf_frame_prefix;
-    }
-    else
-    {
-      tf_prefix = std::string(get_node()->get_namespace());
-    }
-
-    if (tf_prefix == "/")
-    {
-      tf_prefix = "";
-    }
-    else
+    tf_prefix = params_.tf_frame_prefix;
+  }
+  else
+  {
+    tf_prefix = std::string(get_node()->get_namespace());
+    if (tf_prefix != "/")
     {
-      tf_prefix = tf_prefix + "/";
+      tf_prefix += '/';
     }
   }
+  if (tf_prefix.front() == '/')
+  {
+    tf_prefix.erase(0, 1);
+  }
 
   const auto odom_frame_id = tf_prefix + params_.odom_frame_id;
   const auto base_frame_id = tf_prefix + params_.base_frame_id;
diff --git a/diff_drive_controller/src/diff_drive_controller_parameter.yaml b/diff_drive_controller/src/diff_drive_controller_parameter.yaml
index 755259cc2a..a1739901b3 100644
--- a/diff_drive_controller/src/diff_drive_controller_parameter.yaml
+++ b/diff_drive_controller/src/diff_drive_controller_parameter.yaml
@@ -46,11 +46,6 @@ diff_drive_controller:
     default_value: 1.0,
     description: "Correction factor when radius of right wheels differs from the nominal value in ``wheel_radius`` parameter.",
   }
-  tf_frame_prefix_enable: {
-    type: bool,
-    default_value: true,
-    description:  "Enables or disables appending tf_prefix to tf frame id's.",
-  }
   tf_frame_prefix: {
     type: string,
     default_value: "",
diff --git a/diff_drive_controller/test/test_diff_drive_controller.cpp b/diff_drive_controller/test/test_diff_drive_controller.cpp
index 72ae4dbfd7..4511dea235 100644
--- a/diff_drive_controller/test/test_diff_drive_controller.cpp
+++ b/diff_drive_controller/test/test_diff_drive_controller.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "test_diff_drive_controller.hpp"
+
 #include <gmock/gmock.h>
 
 #include <memory>
@@ -252,169 +254,49 @@ TEST_F(TestDiffDriveController, configure_succeeds_when_wheels_are_specified)
   EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 }
 
-TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_no_namespace)
-{
-  std::string odom_id = "odom";
-  std::string base_link_id = "base_link";
-  std::string frame_prefix = "test_prefix";
-
-  ASSERT_EQ(
-    InitController(
-      left_wheel_names, right_wheel_names,
-      {rclcpp::Parameter("tf_frame_prefix_enable", rclcpp::ParameterValue(false)),
-       rclcpp::Parameter("tf_frame_prefix", rclcpp::ParameterValue(frame_prefix)),
-       rclcpp::Parameter("odom_frame_id", rclcpp::ParameterValue(odom_id)),
-       rclcpp::Parameter("base_frame_id", rclcpp::ParameterValue(base_link_id))}),
-    controller_interface::return_type::OK);
-
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
-
-  auto odometry_message = controller_->get_rt_odom_publisher()->msg_;
-  std::string test_odom_frame_id = odometry_message.header.frame_id;
-  std::string test_base_frame_id = odometry_message.child_frame_id;
-  /* tf_frame_prefix_enable is false so no modifications to the frame id's */
-  ASSERT_EQ(test_odom_frame_id, odom_id);
-  ASSERT_EQ(test_base_frame_id, base_link_id);
-}
-
-TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_no_namespace)
+TEST_F(TestDiffDriveController, TfPrefixNamespaceParams)
 {
-  std::string odom_id = "odom";
-  std::string base_link_id = "base_link";
-  std::string frame_prefix = "test_prefix";
-
-  ASSERT_EQ(
-    InitController(
-      left_wheel_names, right_wheel_names,
-      {rclcpp::Parameter("tf_frame_prefix_enable", rclcpp::ParameterValue(true)),
-       rclcpp::Parameter("tf_frame_prefix", rclcpp::ParameterValue(frame_prefix)),
-       rclcpp::Parameter("odom_frame_id", rclcpp::ParameterValue(odom_id)),
-       rclcpp::Parameter("base_frame_id", rclcpp::ParameterValue(base_link_id))}),
-    controller_interface::return_type::OK);
-
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
-
-  auto odometry_message = controller_->get_rt_odom_publisher()->msg_;
-  std::string test_odom_frame_id = odometry_message.header.frame_id;
-  std::string test_base_frame_id = odometry_message.child_frame_id;
-
-  /* tf_frame_prefix_enable is true and frame_prefix is not blank so should be appended to the frame
-   * id's */
-  ASSERT_EQ(test_odom_frame_id, frame_prefix + "/" + odom_id);
-  ASSERT_EQ(test_base_frame_id, frame_prefix + "/" + base_link_id);
-}
-
-TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_no_namespace)
-{
-  std::string odom_id = "odom";
-  std::string base_link_id = "base_link";
-  std::string frame_prefix = "";
-
-  ASSERT_EQ(
-    InitController(
-      left_wheel_names, right_wheel_names,
-      {rclcpp::Parameter("tf_frame_prefix_enable", rclcpp::ParameterValue(true)),
-       rclcpp::Parameter("tf_frame_prefix", rclcpp::ParameterValue(frame_prefix)),
-       rclcpp::Parameter("odom_frame_id", rclcpp::ParameterValue(odom_id)),
-       rclcpp::Parameter("base_frame_id", rclcpp::ParameterValue(base_link_id))}),
-    controller_interface::return_type::OK);
-
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
-
-  auto odometry_message = controller_->get_rt_odom_publisher()->msg_;
-  std::string test_odom_frame_id = odometry_message.header.frame_id;
-  std::string test_base_frame_id = odometry_message.child_frame_id;
-  /* tf_frame_prefix_enable is true but frame_prefix is blank so should not be appended to the frame
-   * id's */
-  ASSERT_EQ(test_odom_frame_id, odom_id);
-  ASSERT_EQ(test_base_frame_id, base_link_id);
-}
-
-TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_set_namespace)
-{
-  std::string test_namespace = "/test_namespace";
-
-  std::string odom_id = "odom";
-  std::string base_link_id = "base_link";
-  std::string frame_prefix = "test_prefix";
-
-  ASSERT_EQ(
-    InitController(
-      left_wheel_names, right_wheel_names,
-      {rclcpp::Parameter("tf_frame_prefix_enable", rclcpp::ParameterValue(false)),
-       rclcpp::Parameter("tf_frame_prefix", rclcpp::ParameterValue(frame_prefix)),
-       rclcpp::Parameter("odom_frame_id", rclcpp::ParameterValue(odom_id)),
-       rclcpp::Parameter("base_frame_id", rclcpp::ParameterValue(base_link_id))},
-      test_namespace),
-    controller_interface::return_type::OK);
-
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
-
-  auto odometry_message = controller_->get_rt_odom_publisher()->msg_;
-  std::string test_odom_frame_id = odometry_message.header.frame_id;
-  std::string test_base_frame_id = odometry_message.child_frame_id;
-  /* tf_frame_prefix_enable is false so no modifications to the frame id's */
-  ASSERT_EQ(test_odom_frame_id, odom_id);
-  ASSERT_EQ(test_base_frame_id, base_link_id);
-}
-
-TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_set_namespace)
-{
-  std::string test_namespace = "/test_namespace";
+  struct PrefixTestCase
+  {
+    std::string tf_prefix;
+    std::string ns;
+    std::string result_prefix;
+  };
 
   std::string odom_id = "odom";
   std::string base_link_id = "base_link";
-  std::string frame_prefix = "test_prefix";
-
-  ASSERT_EQ(
-    InitController(
-      left_wheel_names, right_wheel_names,
-      {rclcpp::Parameter("tf_frame_prefix_enable", rclcpp::ParameterValue(true)),
-       rclcpp::Parameter("tf_frame_prefix", rclcpp::ParameterValue(frame_prefix)),
-       rclcpp::Parameter("odom_frame_id", rclcpp::ParameterValue(odom_id)),
-       rclcpp::Parameter("base_frame_id", rclcpp::ParameterValue(base_link_id))},
-      test_namespace),
-    controller_interface::return_type::OK);
-
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
-
-  auto odometry_message = controller_->get_rt_odom_publisher()->msg_;
-  std::string test_odom_frame_id = odometry_message.header.frame_id;
-  std::string test_base_frame_id = odometry_message.child_frame_id;
-
-  /* tf_frame_prefix_enable is true and frame_prefix is not blank so should be appended to the frame
-   * id's instead of the namespace*/
-  ASSERT_EQ(test_odom_frame_id, frame_prefix + "/" + odom_id);
-  ASSERT_EQ(test_base_frame_id, frame_prefix + "/" + base_link_id);
-}
-
-TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_set_namespace)
-{
-  std::string test_namespace = "/test_namespace";
+  const std::vector<PrefixTestCase> test_cases = {
+    {"", "", ""},
+    {"/", "", ""},
+    {"", "/", ""},
+    {"test_prefix", "", "test_prefix"},
+    {"/test_prefix", "", "test_prefix"},
+    {"", "test_namespace", "test_namespace/"},
+    {"", "/test_namespace", "test_namespace/"},
+    {"test_prefix", "test_namespace", "test_prefix"},
+  };
+
+  for (const auto & test_case : test_cases)
+  {
+    std::vector<rclcpp::Parameter> params = {
+      rclcpp::Parameter("tf_frame_prefix", rclcpp::ParameterValue(test_case.tf_prefix)),
+      rclcpp::Parameter("odom_frame_id", rclcpp::ParameterValue(odom_id)),
+      rclcpp::Parameter("base_frame_id", rclcpp::ParameterValue(base_link_id)),
+    };
 
-  std::string odom_id = "odom";
-  std::string base_link_id = "base_link";
-  std::string frame_prefix = "";
+    ASSERT_EQ(
+      InitController(left_wheel_names, right_wheel_names, params, test_case.ns),
+      controller_interface::return_type::OK);
 
-  ASSERT_EQ(
-    InitController(
-      left_wheel_names, right_wheel_names,
-      {rclcpp::Parameter("tf_frame_prefix_enable", rclcpp::ParameterValue(true)),
-       rclcpp::Parameter("tf_frame_prefix", rclcpp::ParameterValue(frame_prefix)),
-       rclcpp::Parameter("odom_frame_id", rclcpp::ParameterValue(odom_id)),
-       rclcpp::Parameter("base_frame_id", rclcpp::ParameterValue(base_link_id))},
-      test_namespace),
-    controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
 
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
+    auto odometry_message = controller_->get_rt_odom_publisher()->msg_;
+    std::string test_odom_frame_id = odometry_message.header.frame_id;
+    std::string test_base_frame_id = odometry_message.child_frame_id;
 
-  auto odometry_message = controller_->get_rt_odom_publisher()->msg_;
-  std::string test_odom_frame_id = odometry_message.header.frame_id;
-  std::string test_base_frame_id = odometry_message.child_frame_id;
-  /* tf_frame_prefix_enable is true but frame_prefix is blank so namespace should be appended to the
-   * frame id's */
-  ASSERT_EQ(test_odom_frame_id, test_namespace + "/" + odom_id);
-  ASSERT_EQ(test_base_frame_id, test_namespace + "/" + base_link_id);
+    ASSERT_EQ(test_odom_frame_id, test_case.result_prefix + odom_id);
+    ASSERT_EQ(test_base_frame_id, test_case.result_prefix + base_link_id);
+  }
 }
 
 TEST_F(TestDiffDriveController, activate_fails_without_resources_assigned)