diff --git a/ur10_moveit_config/launch/ur10_robot_moveit_controller_manager.launch.xml b/ur10_moveit_config/launch/ur10_robot_moveit_controller_manager.launch.xml
deleted file mode 100644
index 252f650c3..000000000
--- a/ur10_moveit_config/launch/ur10_robot_moveit_controller_manager.launch.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<launch>
-
-  <!-- loads moveit_controller_manager on the parameter server which is taken as argument 
-    if no argument is passed, moveit_simple_controller_manager will be set -->
-  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
-  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-
-  <!-- loads ros_controllers to the param server -->
-  <rosparam file="$(find ur10_moveit_config)/config/ros_controllers.yaml"/>
-</launch>
diff --git a/ur10_moveit_config/launch/ur10_robot_moveit_sensor_manager.launch.xml b/ur10_moveit_config/launch/ur10_robot_moveit_sensor_manager.launch.xml
deleted file mode 100644
index 5d02698d7..000000000
--- a/ur10_moveit_config/launch/ur10_robot_moveit_sensor_manager.launch.xml
+++ /dev/null
@@ -1,3 +0,0 @@
-<launch>
-
-</launch>
diff --git a/ur10e_moveit_config/launch/ur10e_robot_moveit_controller_manager.launch.xml b/ur10e_moveit_config/launch/ur10e_robot_moveit_controller_manager.launch.xml
deleted file mode 100644
index b4b5dd22b..000000000
--- a/ur10e_moveit_config/launch/ur10e_robot_moveit_controller_manager.launch.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<launch>
-
-  <!-- loads moveit_controller_manager on the parameter server which is taken as argument 
-    if no argument is passed, moveit_simple_controller_manager will be set -->
-  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
-  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-
-  <!-- loads ros_controllers to the param server -->
-  <rosparam file="$(find ur10e_moveit_config)/config/ros_controllers.yaml"/>
-</launch>
diff --git a/ur10e_moveit_config/launch/ur10e_robot_moveit_sensor_manager.launch.xml b/ur10e_moveit_config/launch/ur10e_robot_moveit_sensor_manager.launch.xml
deleted file mode 100644
index 5d02698d7..000000000
--- a/ur10e_moveit_config/launch/ur10e_robot_moveit_sensor_manager.launch.xml
+++ /dev/null
@@ -1,3 +0,0 @@
-<launch>
-
-</launch>
diff --git a/ur16e_moveit_config/launch/ur16e_robot_moveit_controller_manager.launch.xml b/ur16e_moveit_config/launch/ur16e_robot_moveit_controller_manager.launch.xml
deleted file mode 100644
index 0a65168d1..000000000
--- a/ur16e_moveit_config/launch/ur16e_robot_moveit_controller_manager.launch.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<launch>
-
-  <!-- loads moveit_controller_manager on the parameter server which is taken as argument 
-    if no argument is passed, moveit_simple_controller_manager will be set -->
-  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
-  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-
-  <!-- loads ros_controllers to the param server -->
-  <rosparam file="$(find ur16e_moveit_config)/config/ros_controllers.yaml"/>
-</launch>
diff --git a/ur16e_moveit_config/launch/ur16e_robot_moveit_sensor_manager.launch.xml b/ur16e_moveit_config/launch/ur16e_robot_moveit_sensor_manager.launch.xml
deleted file mode 100644
index 5d02698d7..000000000
--- a/ur16e_moveit_config/launch/ur16e_robot_moveit_sensor_manager.launch.xml
+++ /dev/null
@@ -1,3 +0,0 @@
-<launch>
-
-</launch>
diff --git a/ur3_moveit_config/launch/ur3_robot_moveit_controller_manager.launch.xml b/ur3_moveit_config/launch/ur3_robot_moveit_controller_manager.launch.xml
deleted file mode 100644
index eb0bd44b8..000000000
--- a/ur3_moveit_config/launch/ur3_robot_moveit_controller_manager.launch.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<launch>
-
-  <!-- loads moveit_controller_manager on the parameter server which is taken as argument 
-    if no argument is passed, moveit_simple_controller_manager will be set -->
-  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
-  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-
-  <!-- loads ros_controllers to the param server -->
-  <rosparam file="$(find ur3_moveit_config)/config/ros_controllers.yaml"/>
-</launch>
diff --git a/ur3_moveit_config/launch/ur3_robot_moveit_sensor_manager.launch.xml b/ur3_moveit_config/launch/ur3_robot_moveit_sensor_manager.launch.xml
deleted file mode 100644
index 5d02698d7..000000000
--- a/ur3_moveit_config/launch/ur3_robot_moveit_sensor_manager.launch.xml
+++ /dev/null
@@ -1,3 +0,0 @@
-<launch>
-
-</launch>
diff --git a/ur3e_moveit_config/launch/ur3e_robot_moveit_controller_manager.launch.xml b/ur3e_moveit_config/launch/ur3e_robot_moveit_controller_manager.launch.xml
deleted file mode 100644
index 82dda5ce2..000000000
--- a/ur3e_moveit_config/launch/ur3e_robot_moveit_controller_manager.launch.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<launch>
-
-  <!-- loads moveit_controller_manager on the parameter server which is taken as argument 
-    if no argument is passed, moveit_simple_controller_manager will be set -->
-  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
-  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-
-  <!-- loads ros_controllers to the param server -->
-  <rosparam file="$(find ur3e_moveit_config)/config/ros_controllers.yaml"/>
-</launch>
diff --git a/ur3e_moveit_config/launch/ur3e_robot_moveit_sensor_manager.launch.xml b/ur3e_moveit_config/launch/ur3e_robot_moveit_sensor_manager.launch.xml
deleted file mode 100644
index 5d02698d7..000000000
--- a/ur3e_moveit_config/launch/ur3e_robot_moveit_sensor_manager.launch.xml
+++ /dev/null
@@ -1,3 +0,0 @@
-<launch>
-
-</launch>
diff --git a/ur5_moveit_config/launch/ur5_robot_moveit_controller_manager.launch.xml b/ur5_moveit_config/launch/ur5_robot_moveit_controller_manager.launch.xml
deleted file mode 100644
index 0500324ce..000000000
--- a/ur5_moveit_config/launch/ur5_robot_moveit_controller_manager.launch.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<launch>
-
-  <!-- loads moveit_controller_manager on the parameter server which is taken as argument 
-    if no argument is passed, moveit_simple_controller_manager will be set -->
-  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
-  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-
-  <!-- loads ros_controllers to the param server -->
-  <rosparam file="$(find ur5_moveit_config)/config/ros_controllers.yaml"/>
-</launch>
diff --git a/ur5_moveit_config/launch/ur5_robot_moveit_sensor_manager.launch.xml b/ur5_moveit_config/launch/ur5_robot_moveit_sensor_manager.launch.xml
deleted file mode 100644
index 5d02698d7..000000000
--- a/ur5_moveit_config/launch/ur5_robot_moveit_sensor_manager.launch.xml
+++ /dev/null
@@ -1,3 +0,0 @@
-<launch>
-
-</launch>
diff --git a/ur5e_moveit_config/launch/ur5e_robot_moveit_controller_manager.launch.xml b/ur5e_moveit_config/launch/ur5e_robot_moveit_controller_manager.launch.xml
deleted file mode 100644
index 58e68a4ab..000000000
--- a/ur5e_moveit_config/launch/ur5e_robot_moveit_controller_manager.launch.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<launch>
-
-  <!-- loads moveit_controller_manager on the parameter server which is taken as argument 
-    if no argument is passed, moveit_simple_controller_manager will be set -->
-  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
-  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-
-  <!-- loads ros_controllers to the param server -->
-  <rosparam file="$(find ur5e_moveit_config)/config/ros_controllers.yaml"/>
-</launch>
diff --git a/ur5e_moveit_config/launch/ur5e_robot_moveit_sensor_manager.launch.xml b/ur5e_moveit_config/launch/ur5e_robot_moveit_sensor_manager.launch.xml
deleted file mode 100644
index 5d02698d7..000000000
--- a/ur5e_moveit_config/launch/ur5e_robot_moveit_sensor_manager.launch.xml
+++ /dev/null
@@ -1,3 +0,0 @@
-<launch>
-
-</launch>