diff --git a/roseus_bt/include/roseus_bt/command_line_argument_mapping.h b/roseus_bt/include/roseus_bt/command_line_argument_mapping.h
index 7c4f4e3d0..484275c0c 100644
--- a/roseus_bt/include/roseus_bt/command_line_argument_mapping.h
+++ b/roseus_bt/include/roseus_bt/command_line_argument_mapping.h
@@ -8,6 +8,7 @@
 #include <fmt/format.h>
 #include <boost/program_options.hpp>
 #include <behaviortree_cpp_v3/bt_factory.h>
+#include <ros/init.h>
 
 
 namespace roseus_bt
@@ -19,6 +20,10 @@ bool parse_command_line(int argc, char** argv,
                         const std::string& program_description,
                         std::map<std::string, std::string>& argument_map)
 {
+
+  std::vector<std::string> argv_vec;
+  ros::removeROSArgs(argc, argv, argv_vec);
+
   std::string example_description =
     fmt::format("example:\n  {0} --arg var1 hello --arg var2 world\n", argv[0]);
 
@@ -29,7 +34,9 @@ bool parse_command_line(int argc, char** argv,
      "Initial blackboard variable-value pairs");
 
   po::positional_options_description pos;
-  po::parsed_options parsed_options = po::command_line_parser(argc, argv).
+  // when initializing from std::vector, we need to drop the program name
+  po::parsed_options parsed_options = po::command_line_parser(
+      std::vector<std::string>(argv_vec.begin() + 1, argv_vec.end())).
     options(desc).
     positional(pos).
     style(po::command_line_style::unix_style ^ po::command_line_style::allow_short).