diff --git a/rbs_bt_executor/config/params.yaml b/rbs_bt_executor/config/params.yaml
index 43dd74f..8300654 100644
--- a/rbs_bt_executor/config/params.yaml
+++ b/rbs_bt_executor/config/params.yaml
@@ -1,6 +1,5 @@
 bt_engine:
     ros__parameters:
-        bt_file_path: "/home/bill-finger/rbs_ws/src/robossembler-ros2/rbs_bt_executor/bt_trees/test_tree.xml"
         plugins: [
             "rbs_skill_move_topose_bt_action_client",
             "rbs_skill_get_pick_place_pose_service_client",
diff --git a/rbs_bt_executor/launch/rbs_executor.launch.py b/rbs_bt_executor/launch/rbs_executor.launch.py
index 08d520d..e4c06dc 100644
--- a/rbs_bt_executor/launch/rbs_executor.launch.py
+++ b/rbs_bt_executor/launch/rbs_executor.launch.py
@@ -1,10 +1,8 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch_ros.actions import Node
-from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.substitutions import FindPackageShare
-# from ament_index_python.packages import get_package_share_directory 
-# import os
 
 def generate_launch_description():
 
@@ -12,41 +10,28 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "bt_file",
-            default_value="test_tree_env_manager.xml",
+            default_value="test_tree.xml",
             description="BehaviorTree file for run.",
         )
     )
     bt_file = LaunchConfiguration("bt_file")
 
-    robot_description_semantic_content = Command(
-        [
-            PathJoinSubstitution([FindExecutable(name="xacro")]),
-            " ",
-            PathJoinSubstitution(
-                [FindPackageShare("ur_moveit_config"), "srdf", "ur.srdf.xacro"]
-            ),
-            " ",
-            "name:=",
-            "ur",
-            " ",
-            "prefix:=",
-            "",
-            " ",
-        ]
-    )
-    robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}
 
     btfile_description = PathJoinSubstitution(
         [FindPackageShare("rbs_bt_executor"), "bt_trees", bt_file]
     )
     btfile_param = {"bt_file_path": btfile_description}
+    bt_skills_param = PathJoinSubstitution([FindPackageShare("rbs_bt_executor"), "config", "params.yaml"])
 
     nodes_to_start = [
         Node(
             package='behavior_tree',
             executable='bt_engine',
             # prefix=['gdbserver localhost:3000'],
-            parameters=["/home/bill-finger/rbs_ws/src/robossembler-ros2/rbs_bt_executor/config/params.yaml"]
+            parameters=[
+                btfile_param,
+                bt_skills_param
+            ]
         )
     ]