R – “Error: Mapping should be created with `aes()` or `aes_()`.”

Just following on Matt and Dirk. If you want to recreate your existing data frame without changing the global option, you can recreate it with an apply statement:

bob <- data.frame(lapply(bob, as.character), stringsAsFactors=FALSE)

This will convert all variables to class "character", if you want to only convert factors, see Marek's solution below.

As @hadley points out, the following is more concise.

bob[] <- lapply(bob, as.character)

In both cases, lapply outputs a list; however, owing to the magical properties of R, the use of [] in the second case keeps the data.frame class of the bob object, thereby eliminating the need to convert back to a data.frame using as.data.frame with the argument stringsAsFactors = FALSE.

For simple situations like the exact example in the OP, I agree that Thierry's answer is the best. However, I think it's useful to point out another approach that becomes easier when you're trying to maintain consistent color schemes across multiple data frames that are not all obtained by subsetting a single large data frame. Managing the factors levels in multiple data frames can become tedious if they are being pulled from separate files and not all factor levels appear in each file.

One way to address this is to create a custom manual colour scale as follows:

#Some test data
dat <- data.frame(x=runif(10),y=runif(10),
        grp = rep(LETTERS[1:5],each = 2),stringsAsFactors = TRUE)

#Create a custom color scale
library(RColorBrewer)
myColors <- brewer.pal(5,"Set1")
names(myColors) <- levels(dat$grp)
colScale <- scale_colour_manual(name = "grp",values = myColors)

and then add the color scale onto the plot as needed:

#One plot with all the data
p <- ggplot(dat,aes(x,y,colour = grp)) + geom_point()
p1 <- p + colScale

#A second plot with only four of the levels
p2 <- p %+% droplevels(subset(dat[4:10,])) + colScale

The first plot looks like this:

and the second plot looks like this:

This way you don't need to remember or check each data frame to see that they have the appropriate levels.