diff --git a/example_1/bringup/launch/rrbot.launch.py b/example_1/bringup/launch/rrbot.launch.py
index e25a132ab..0de1813d1 100644
--- a/example_1/bringup/launch/rrbot.launch.py
+++ b/example_1/bringup/launch/rrbot.launch.py
@@ -67,7 +67,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_10/bringup/launch/rrbot.launch.py b/example_10/bringup/launch/rrbot.launch.py
index 9326d4690..7e975d565 100644
--- a/example_10/bringup/launch/rrbot.launch.py
+++ b/example_10/bringup/launch/rrbot.launch.py
@@ -50,7 +50,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_11/bringup/launch/carlikebot.launch.py b/example_11/bringup/launch/carlikebot.launch.py
index a15ea1256..1ada54ad1 100644
--- a/example_11/bringup/launch/carlikebot.launch.py
+++ b/example_11/bringup/launch/carlikebot.launch.py
@@ -78,7 +78,6 @@ def generate_launch_description():
         parameters=[robot_controllers],
         output="both",
         remappings=[
-            ("~/robot_description", "/robot_description"),
             ("/bicycle_steering_controller/tf_odometry", "/tf"),
         ],
         condition=IfCondition(remap_odometry_tf),
@@ -89,7 +88,6 @@ def generate_launch_description():
         parameters=[robot_controllers],
         output="both",
         remappings=[
-            ("~/robot_description", "/robot_description"),
         ],
         condition=UnlessCondition(remap_odometry_tf),
     )
@@ -98,9 +96,6 @@ def generate_launch_description():
         executable="robot_state_publisher",
         output="both",
         parameters=[robot_description],
-        remappings=[
-            ("~/robot_description", "/robot_description"),
-        ],
     )
     rviz_node = Node(
         package="rviz2",
diff --git a/example_12/bringup/launch/rrbot.launch.py b/example_12/bringup/launch/rrbot.launch.py
index 07b4a486b..b89c521ed 100644
--- a/example_12/bringup/launch/rrbot.launch.py
+++ b/example_12/bringup/launch/rrbot.launch.py
@@ -53,7 +53,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py b/example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py
index f988a5c70..6c263c12d 100644
--- a/example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py
+++ b/example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py
@@ -96,7 +96,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(