diff --git a/launch/rsp.launch b/launch/rsp.launch
index 4dacf22..ea3db67 100644
--- a/launch/rsp.launch
+++ b/launch/rsp.launch
@@ -1,9 +1,7 @@
 <launch>
-    <!-- Set the use_sim_time parameter -->
-    <param name="use_sim_time" value="false" />
-
+ 
     <!-- Set the robot description -->
-    <param name="robot_description" command="$(find xacro)/xacro $(find cps_rmp220_support)/description/robot.urdf.xacro use_ros_control:=true sim_mode:=$(arg use_sim_time)" />
+    <param name="robot_description" command="$(find xacro)/xacro $(find cps_rmp220_support)/description/robot.urdf.xacro" />
 
     <!-- Start the robot state publisher node -->
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>