diff --git a/rbs_bringup/launch/rbs_robot.launch.py b/rbs_bringup/launch/rbs_robot.launch.py
index a36b396..3376671 100644
--- a/rbs_bringup/launch/rbs_robot.launch.py
+++ b/rbs_bringup/launch/rbs_robot.launch.py
@@ -59,11 +59,11 @@ def launch_setup(context, *args, **kwargs):
         "robot_description": robot_description_content.perform(context)
     }
 
-    robot_description_kinematics_filepath = os.path.join(
-        get_package_share_directory(moveit_config_package.perform(context)),
-        "config",
-        "kinematics.yaml",
-    )
+    # robot_description_kinematics_filepath = os.path.join(
+    #     get_package_share_directory(moveit_config_package.perform(context)),
+    #     "moveit",
+    #     "kinematics.yaml",
+    # )
 
     # robot_description_kinematics = {
     #     "robot_description_kinematics": robot_description_kinematics
@@ -118,8 +118,8 @@ def launch_setup(context, *args, **kwargs):
             "tf_prefix": robot_name,
             "with_gripper": with_gripper_condition,
             "robot_description": robot_description_content,
-            "robot_description_semantic": robot_description_semantic_content,
-            "robot_description_kinematics": robot_description_kinematics_filepath,
+            # "robot_description_semantic": robot_description_semantic_content,
+            # "robot_description_kinematics": robot_description_kinematics_filepath,
             "namespace": namespace,
         }.items(),
         condition=IfCondition(use_moveit),
@@ -140,7 +140,7 @@ def launch_setup(context, *args, **kwargs):
         launch_arguments={
             "robot_description": robot_description_content,
             "robot_description_semantic": robot_description_semantic_content,
-            "robot_description_kinematics": robot_description_kinematics_filepath,
+            # "robot_description_kinematics": robot_description_kinematics_filepath,
             "use_sim_time": use_sim_time,
             "with_gripper_condition": with_gripper_condition,
             "namespace": namespace,
diff --git a/rbs_skill_servers/launch/skills.launch.py b/rbs_skill_servers/launch/skills.launch.py
index abd654f..f152cb9 100644
--- a/rbs_skill_servers/launch/skills.launch.py
+++ b/rbs_skill_servers/launch/skills.launch.py
@@ -9,8 +9,12 @@ from rbs_launch_utils.launch_common import load_yaml, load_yaml_abs
 
 def launch_setup(context, *args, **kwargs):
     robot_description_content = LaunchConfiguration("robot_description")
-    robot_description_semantic_content = LaunchConfiguration("robot_description_semantic")
-    robot_description_kinematics_filepath = LaunchConfiguration("robot_description_kinematics")
+    robot_description_semantic_content = LaunchConfiguration(
+        "robot_description_semantic"
+    )
+    robot_description_kinematics_filepath = LaunchConfiguration(
+        "robot_description_kinematics"
+    )
     use_sim_time = LaunchConfiguration("use_sim_time")
     use_moveit = LaunchConfiguration("use_moveit")
     ee_link_name = LaunchConfiguration("ee_link_name").perform(context)
@@ -23,13 +27,16 @@ def launch_setup(context, *args, **kwargs):
     }
     namespace = LaunchConfiguration("namespace")
 
-    kinematics_yaml = load_yaml_abs(robot_description_kinematics_filepath.perform(context))
-    robot_description_kinematics = {"robot_description_kinematics": kinematics_yaml}
+    # kinematics_yaml = load_yaml_abs(
+    #     robot_description_kinematics_filepath.perform(context)
+    # )
+    # robot_description_kinematics = {"robot_description_kinematics": kinematics_yaml}
 
     skills_container = ComposableNodeContainer(
         name="skills",
         namespace=namespace,
         package="rclcpp_components",
+        # prefix=['kitty -e gdb -ex run --args'],
         # prefix=['gdbserver localhost:1234'],
         executable="component_container_mt",
         composable_node_descriptions=[
@@ -79,8 +86,10 @@ def launch_setup(context, *args, **kwargs):
                 parameters=[
                     robot_description,
                     robot_description_semantic,
-                    robot_description_kinematics,
+                    # robot_description_kinematics,
                     {"use_sim_time": use_sim_time},
+                    {"base_link": base_link_name},
+                    {"ee_link": ee_link_name},
                 ],
                 condition=IfCondition(use_moveit),
             ),
@@ -91,7 +100,7 @@ def launch_setup(context, *args, **kwargs):
                 parameters=[
                     robot_description,
                     robot_description_semantic,
-                    robot_description_kinematics,
+                    # robot_description_kinematics,
                     {"use_sim_time": use_sim_time},
                 ],
                 condition=IfCondition(use_moveit),
@@ -130,15 +139,9 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument("with_gripper_condition", default_value="")
     )
-    declared_arguments.append(
-        DeclareLaunchArgument("namespace", default_value="")
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument("ee_link_name", default_value="")
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument("base_link_name", default_value="")
-    )
+    declared_arguments.append(DeclareLaunchArgument("namespace", default_value=""))
+    declared_arguments.append(DeclareLaunchArgument("ee_link_name", default_value=""))
+    declared_arguments.append(DeclareLaunchArgument("base_link_name", default_value=""))
     return LaunchDescription(
         declared_arguments + [OpaqueFunction(function=launch_setup)]
     )