diff --git a/franka_control/launch/franka_control.launch b/franka_control/launch/franka_control.launch
index 842353f6e..0afb5ffc0 100644
--- a/franka_control/launch/franka_control.launch
+++ b/franka_control/launch/franka_control.launch
@@ -22,10 +22,4 @@
     <rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states] </rosparam>
     <param name="rate" value="30"/>
   </node>
-  <node name="joint_state_desired_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
-    <rosparam if="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states_desired, franka_gripper/joint_states] </rosparam>
-    <rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states_desired] </rosparam>
-    <param name="rate" value="30"/>
-    <remap from="/joint_states" to="/joint_states_desired" />
-  </node>
 </launch>
diff --git a/franka_gazebo/launch/panda.launch b/franka_gazebo/launch/panda.launch
index 527802021..571dec6e9 100644
--- a/franka_gazebo/launch/panda.launch
+++ b/franka_gazebo/launch/panda.launch
@@ -92,11 +92,6 @@
       <rosparam param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
       <param name="rate" value="30"/>
     </node>
-    <node name="joint_state_desired_publisher" type="joint_state_publisher" pkg="joint_state_publisher">
-      <rosparam param="source_list">[franka_state_controller/joint_states_desired, franka_gripper/joint_states] </rosparam>
-      <param name="rate" value="30"/>
-      <remap from="joint_states" to="joint_states_desired" />
-    </node>
 
     <!-- Start only if cartesian_impedance_example_controller -->
     <node name="interactive_marker"