diff --git a/src/costmap_2d_robot.cpp b/src/costmap_2d_robot.cpp
index fc02e33..deee0dd 100644
--- a/src/costmap_2d_robot.cpp
+++ b/src/costmap_2d_robot.cpp
@@ -92,19 +92,19 @@ void Costmap2DROBOT::getParams(const std::string& config_file_name)
     robot::Time last_error = robot::Time::now();
     std::string tf_error;
     
-    // // we need to make sure that the transform between the robot base frame and the global frame is available
-    // while (!tf_.canTransform(global_frame_, robot_base_frame_, tf3::Time::now(), &tf_error))
-    // {
-    //   if (last_error + robot::Duration(5.0) < robot::Time::now())
-    //   {
-    //     printf("%f: Timed out waiting for transform from %s to %s to become available before running costmap, tf error: %s\n",
-    //             robot::Time::now().toSec(), robot_base_frame_.c_str(), global_frame_.c_str(), tf_error.c_str());
-    //     last_error = robot::Time::now();
-    //   }
-    //   // The error string will accumulate and errors will typically be the same, so the last
-    //   // will do for the warning above. Reset the string here to avoid accumulation.
-    //   tf_error.clear();
-    // }
+    // we need to make sure that the transform between the robot base frame and the global frame is available
+    while (!tf_.canTransform(global_frame_, robot_base_frame_, tf3::Time::now(), &tf_error))
+    {
+      if (last_error + robot::Duration(5.0) < robot::Time::now())
+      {
+        printf("%f: Timed out waiting for transform from %s to %s to become available before running costmap, tf error: %s\n",
+                robot::Time::now().toSec(), robot_base_frame_.c_str(), global_frame_.c_str(), tf_error.c_str());
+        last_error = robot::Time::now();
+      }
+      // The error string will accumulate and errors will typically be the same, so the last
+      // will do for the warning above. Reset the string here to avoid accumulation.
+      tf_error.clear();
+    }
   
     // check if we want a rolling window version of the costmap
     bool rolling_window, track_unknown_space;
diff --git a/test/static_layer_test.cpp b/test/static_layer_test.cpp
index ffa8494..65d6e5b 100644
--- a/test/static_layer_test.cpp
+++ b/test/static_layer_test.cpp
@@ -18,7 +18,7 @@ class CostmapTester : public testing::Test {
     costmap_2d::Costmap2DROBOT costmap_ros_;
 };
 
-CostmapTester::CostmapTester(tf3::BufferCore& tf): costmap_ros_("costmap_global_params", tf){}
+CostmapTester::CostmapTester(tf3::BufferCore& tf): costmap_ros_("costmap_params", tf){}
 
 void CostmapTester::checkConsistentCosts(){
   costmap_2d::Costmap2D* costmap = costmap_ros_.getCostmap();