diff --git a/launch/chomp_planning_pipeline.launch.xml b/launch/chomp_planning_pipeline.launch.xml
index 39e645f843706e583713cf0e792344e1af0fa208..cde02558cda574909b42a3183d8cd546bf40f9ee 100644
--- a/launch/chomp_planning_pipeline.launch.xml
+++ b/launch/chomp_planning_pipeline.launch.xml
@@ -2,9 +2,7 @@
   <arg name="start_state_max_bounds_error" default="0.1" />
   <arg name="jiggle_fraction" default="0.05" />
   <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
-  <arg name="planning_adapters"
-       default="default_planner_request_adapters/AddTimeParameterization
-                default_planner_request_adapters/ResolveConstraintFrames
+  <arg name="planning_adapters" default="default_planner_request_adapters/AddTimeParameterization
                 default_planner_request_adapters/FixWorkspaceBounds
                 default_planner_request_adapters/FixStartStateBounds
                 default_planner_request_adapters/FixStartStateCollision
diff --git a/launch/ompl_planning_pipeline.launch.xml b/launch/ompl_planning_pipeline.launch.xml
index af9d56e1964f4b9721b1e07d804aae393b8c89e7..e3643811ea7ff67b97f48c00e2da6575bae6b351 100644
--- a/launch/ompl_planning_pipeline.launch.xml
+++ b/launch/ompl_planning_pipeline.launch.xml
@@ -1,9 +1,7 @@
 <launch>
 
   <!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
-  <arg name="planning_adapters"
-       default="default_planner_request_adapters/AddTimeParameterization
-                default_planner_request_adapters/ResolveConstraintFrames
+  <arg name="planning_adapters" default="default_planner_request_adapters/AddTimeParameterization
                 default_planner_request_adapters/FixWorkspaceBounds
                 default_planner_request_adapters/FixStartStateBounds
                 default_planner_request_adapters/FixStartStateCollision