diff --git a/launch/ompl_planning_pipeline.launch.xml b/launch/ompl_planning_pipeline.launch.xml
index 37d9e68d9e02b2ff87c19560b26c51a8a9da321f..88de9c4064a8b45ca8bc1cdd092e97f6a646414d 100644
--- a/launch/ompl_planning_pipeline.launch.xml
+++ b/launch/ompl_planning_pipeline.launch.xml
@@ -10,9 +10,9 @@
        default_planner_request_adapters/FixStartStateBounds
        default_planner_request_adapters/FixStartStateCollision
        default_planner_request_adapters/FixStartStatePathConstraints
-       default_planner_request_adapters/ResolveConstraintFrames
        default_planner_request_adapters/AddTimeParameterization"
        />
+  <!-- default_planner_request_adapters/ResolveConstraintFrames -->
   <arg name="start_state_max_bounds_error" value="0.1" />
 
   <param name="planning_plugin" value="$(arg planning_plugin)" />