diff --git a/README.md b/README.md
index 10a985b16..94d1af25a 100644
--- a/README.md
+++ b/README.md
@@ -49,12 +49,45 @@ Please kindly star :star: this project if it helps you. We take great efforts to
 * [Updates](#6-updates)
 
 
+
+# Quick start with ubuntu 20.04
+if Ubuntu 20.04,you should install nlopt with the source code 
+```
+git clone https://github.com/stevengj/nlopt.git
+cd nlopt
+mkdir build
+cd build
+cmake ..
+make
+sudo make install
+```
+after that,you can test the fast-planner,run the following commands to setup
+```
+  sudo apt-get install libarmadillo-dev
+  cd ${YOUR_WORKSPACE_PATH}/src
+  git clone https://github.com/Junking1/Fast-Planner-for-ubuntu20.04.git
+  cd ../ 
+  catkin_make
+```
+You may check the detailed [instruction](#3-setup-and-config) to setup the project. 
+After compilation you can start the visualization by: 
+
+```
+  source devel/setup.bash && roslaunch plan_manage rviz.launch
+```
+and start a simulation (run in a new terminals): 
+```
+  source devel/setup.bash && roslaunch plan_manage kino_replan.launch
+```
+You will find the random map and the drone in ```Rviz```. You can select goals for the drone to reach using the ```2D Nav Goal``` tool. A sample simulation is showed [here](#demo1).
+
+
 ## 1. Quick Start
 
 The project has been tested on Ubuntu 16.04(ROS Kinetic) and 18.04(ROS Melodic). Take Ubuntu 18.04 as an example, run the following commands to setup:
 
 ```
-  sudo apt-get install libarmadillo-dev ros-melodic-nlopt
+  sudo apt-get install libarmadillo-dev
   cd ${YOUR_WORKSPACE_PATH}/src
   git clone https://github.com/HKUST-Aerial-Robotics/Fast-Planner.git
   cd ../ 
diff --git a/fast_planner/bspline_opt/CMakeLists.txt b/fast_planner/bspline_opt/CMakeLists.txt
index 7fd15181a..71db5ba17 100755
--- a/fast_planner/bspline_opt/CMakeLists.txt
+++ b/fast_planner/bspline_opt/CMakeLists.txt
@@ -10,7 +10,6 @@ find_package(catkin REQUIRED COMPONENTS
   std_msgs
   visualization_msgs
   cv_bridge
-  nlopt
   plan_env
 )
 
@@ -36,4 +35,5 @@ add_library( bspline_opt
     )
 target_link_libraries( bspline_opt
     ${catkin_LIBRARIES} 
+    nlopt
     )  
diff --git a/uav_simulator/Utils/odom_visualization/src/odom_visualization.cpp b/uav_simulator/Utils/odom_visualization/src/odom_visualization.cpp
index 69b998228..77dafee52 100755
--- a/uav_simulator/Utils/odom_visualization/src/odom_visualization.cpp
+++ b/uav_simulator/Utils/odom_visualization/src/odom_visualization.cpp
@@ -81,7 +81,7 @@ void odom_callback(const nav_msgs::Odometry::ConstPtr& msg)
   // Pose
   poseROS.header = msg->header;
   poseROS.header.stamp = msg->header.stamp;
-  poseROS.header.frame_id = string("/world");
+  poseROS.header.frame_id = string("world");
   poseROS.pose.position.x = pose(0);
   poseROS.pose.position.y = pose(1);
   poseROS.pose.position.z = pose(2);
@@ -98,7 +98,7 @@ void odom_callback(const nav_msgs::Odometry::ConstPtr& msg)
   yprVel(1) = -atan2(vel(2), norm(vel.rows(0,1),2));
   yprVel(2) = 0;
   q = R_to_quaternion(ypr_to_R(yprVel));    
-  velROS.header.frame_id = string("/world");
+  velROS.header.frame_id = string("world");
   velROS.header.stamp = msg->header.stamp;
   velROS.ns = string("velocity");
   velROS.id = 0;
@@ -167,7 +167,7 @@ void odom_callback(const nav_msgs::Odometry::ConstPtr& msg)
         }
       }
     }
-    covROS.header.frame_id = string("/world");
+    covROS.header.frame_id = string("world");
     covROS.header.stamp = msg->header.stamp;
     covROS.ns = string("covariance");
     covROS.id = 0;
@@ -216,7 +216,7 @@ void odom_callback(const nav_msgs::Odometry::ConstPtr& msg)
         }
       }
     }
-    covVelROS.header.frame_id = string("/world");
+    covVelROS.header.frame_id = string("world");
     covVelROS.header.stamp = msg->header.stamp;
     covVelROS.ns = string("covariance_velocity");
     covVelROS.id = 0;
@@ -246,7 +246,7 @@ void odom_callback(const nav_msgs::Odometry::ConstPtr& msg)
   ros::Time t = msg->header.stamp;
   if ((t - pt).toSec() > 0.5)
   {
-    trajROS.header.frame_id = string("/world");
+    trajROS.header.frame_id = string("world");
     trajROS.header.stamp    = ros::Time::now();
     trajROS.ns              = string("trajectory");
     trajROS.type            = visualization_msgs::Marker::LINE_LIST;
@@ -287,7 +287,7 @@ void odom_callback(const nav_msgs::Odometry::ConstPtr& msg)
   }
 
   // Sensor availability
-  sensorROS.header.frame_id = string("/world");
+  sensorROS.header.frame_id = string("world");
   sensorROS.header.stamp    = msg->header.stamp;
   sensorROS.ns              = string("sensor");
   sensorROS.type            = visualization_msgs::Marker::TEXT_VIEW_FACING;
@@ -376,7 +376,7 @@ void odom_callback(const nav_msgs::Odometry::ConstPtr& msg)
     colvec q90 = R_to_quaternion(ypr_to_R(p90));  
     transform90.setRotation(tf::Quaternion(q90(1), q90(2), q90(3), q90(0)));  
 
-    broadcaster->sendTransform(tf::StampedTransform(transform,   msg->header.stamp, string("/world"),  string("/base")));      
+    broadcaster->sendTransform(tf::StampedTransform(transform,   msg->header.stamp, string("world"),  string("/base")));      
     broadcaster->sendTransform(tf::StampedTransform(transform45, msg->header.stamp, string("/base"), string("/laser")));          
     broadcaster->sendTransform(tf::StampedTransform(transform45, msg->header.stamp, string("/base"), string("/vision")));          
     broadcaster->sendTransform(tf::StampedTransform(transform90, msg->header.stamp, string("/base"), string("/height")));          
@@ -443,7 +443,7 @@ int main(int argc, char** argv)
   n.param("color/a", color_a, 1.0);
   n.param("origin", origin, false);  
   n.param("robot_scale", scale, 2.0);    
-  n.param("frame_id",   _frame_id, string("/world") );    
+  n.param("frame_id",   _frame_id, string("world") );    
  
   n.param("cross_config", cross_config, false);    
   n.param("tf45", tf45, false);