diff --git a/rbs_bt_executor/src/PoseEstimation.cpp b/rbs_bt_executor/src/PoseEstimation.cpp
index b68c457..0a6b183 100644
--- a/rbs_bt_executor/src/PoseEstimation.cpp
+++ b/rbs_bt_executor/src/PoseEstimation.cpp
@@ -23,10 +23,12 @@ public:
 
     while (!_set_params_client->wait_for_service(1s)) {
       if (!rclcpp::ok()) {
-        RCLCPP_ERROR(_node->get_logger(), "Interrupted while waiting for the service. Exiting.");
+        RCLCPP_ERROR(_node->get_logger(),
+                     "Interrupted while waiting for the service. Exiting.");
         break;
       }
-      RCLCPP_WARN(_node->get_logger(), "service not available, waiting again...");
+      RCLCPP_WARN(_node->get_logger(),
+                  "service not available, waiting again...");
     }
 
     _model_name = getInput<std::string>("ObjectName").value();
@@ -80,7 +82,7 @@ private:
     } else if (req_type == "cleanup") {
       transition_id_ = lifecycle_msgs::msg::Transition::TRANSITION_CLEANUP;
     }
-    //calibrate
+    // calibrate
     translation.set__id(transition_id_);
     return translation;
   }
@@ -95,18 +97,11 @@ private:
   }
 
   void set_str_param() {
-    RCLCPP_INFO_STREAM(_node->get_logger(), "Set string parameter: <" + _model_name + ">");
+    RCLCPP_INFO_STREAM(_node->get_logger(),
+                       "Set string parameter: <" + _model_name + ">");
 
-    std::vector<rclcpp::Parameter> _parameters{rclcpp::Parameter("mesh_path", _model_name)};
-    _set_params_client->set_parameters(_parameters);
-  }
-
-  void set_mesh_param() {
-    auto _package_name = ament_index_cpp::get_package_share_directory("rbs_perception");
-    _model_path = build_model_path(_model_name, _package_name);
-    RCLCPP_INFO_STREAM(_node->get_logger(), _model_path);
-
-    std::vector<rclcpp::Parameter> _parameters{rclcpp::Parameter("mesh_path", _model_name)};
+    std::vector<rclcpp::Parameter> _parameters{
+        rclcpp::Parameter("mesh_path", _model_name)};
     _set_params_client->set_parameters(_parameters);
   }
 
@@ -117,7 +112,7 @@ private:
     RCLCPP_INFO_STREAM(_node->get_logger(), _model_path);
 
     std::vector<rclcpp::Parameter> _parameters{
-        rclcpp::Parameter("mesh_path", _model_path)};
+        rclcpp::Parameter("mesh_path", _model_name)};
     _set_params_client->set_parameters(_parameters);
   }
 };