diff --git a/launch/chomp_planning_pipeline.launch.xml b/launch/chomp_planning_pipeline.launch.xml
index 0fb092f4a95aa5ac3ae55028993e3ea8eafa3f6b..5cc1006908149fcd803c1798b400212936c9dc87 100644
--- a/launch/chomp_planning_pipeline.launch.xml
+++ b/launch/chomp_planning_pipeline.launch.xml
@@ -9,8 +9,7 @@
        default_planner_request_adapters/FixWorkspaceBounds
        default_planner_request_adapters/FixStartStateBounds
        default_planner_request_adapters/FixStartStateCollision
-       default_planner_request_adapters/FixStartStatePathConstraints
-       default_planner_request_adapters/ResolveConstraintFrames"
+       default_planner_request_adapters/FixStartStatePathConstraints"
        />
    <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
 
diff --git a/launch/ompl_planning_pipeline.launch.xml b/launch/ompl_planning_pipeline.launch.xml
index de9a5427a733a131e06bc89bab78832a7aaf1f01..7c403bd9b0ce42dc79f30e3481d5bdec7de515a5 100644
--- a/launch/ompl_planning_pipeline.launch.xml
+++ b/launch/ompl_planning_pipeline.launch.xml
@@ -7,7 +7,6 @@
        ORDER MATTERS -->
   <arg name="planning_adapters" default="
        default_planner_request_adapters/AddTimeParameterization
-       default_planner_request_adapters/ResolveConstraintFrames
        default_planner_request_adapters/FixWorkspaceBounds
        default_planner_request_adapters/FixStartStateBounds
        default_planner_request_adapters/FixStartStateCollision