diff --git a/example_1/bringup/launch/rrbot.launch.py b/example_1/bringup/launch/rrbot.launch.py
index e25a132ab..0de1813d1 100644
--- a/example_1/bringup/launch/rrbot.launch.py
+++ b/example_1/bringup/launch/rrbot.launch.py
@@ -67,7 +67,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_10/bringup/launch/rrbot.launch.py b/example_10/bringup/launch/rrbot.launch.py
index 9326d4690..7e975d565 100644
--- a/example_10/bringup/launch/rrbot.launch.py
+++ b/example_10/bringup/launch/rrbot.launch.py
@@ -50,7 +50,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_11/bringup/launch/carlikebot.launch.py b/example_11/bringup/launch/carlikebot.launch.py
index a15ea1256..4a7adce19 100644
--- a/example_11/bringup/launch/carlikebot.launch.py
+++ b/example_11/bringup/launch/carlikebot.launch.py
@@ -78,7 +78,6 @@ def generate_launch_description():
         parameters=[robot_controllers],
         output="both",
         remappings=[
-            ("~/robot_description", "/robot_description"),
             ("/bicycle_steering_controller/tf_odometry", "/tf"),
         ],
         condition=IfCondition(remap_odometry_tf),
@@ -88,9 +87,7 @@ def generate_launch_description():
         executable="ros2_control_node",
         parameters=[robot_controllers],
         output="both",
-        remappings=[
-            ("~/robot_description", "/robot_description"),
-        ],
+        remappings=[],
         condition=UnlessCondition(remap_odometry_tf),
     )
     robot_state_pub_bicycle_node = Node(
@@ -98,9 +95,6 @@ def generate_launch_description():
         executable="robot_state_publisher",
         output="both",
         parameters=[robot_description],
-        remappings=[
-            ("~/robot_description", "/robot_description"),
-        ],
     )
     rviz_node = Node(
         package="rviz2",
diff --git a/example_12/bringup/launch/rrbot.launch.py b/example_12/bringup/launch/rrbot.launch.py
index 07b4a486b..b89c521ed 100644
--- a/example_12/bringup/launch/rrbot.launch.py
+++ b/example_12/bringup/launch/rrbot.launch.py
@@ -53,7 +53,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py b/example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py
index f988a5c70..6c263c12d 100644
--- a/example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py
+++ b/example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py
@@ -96,7 +96,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_14/hardware/rrbot_actuator_without_feedback.cpp b/example_14/hardware/rrbot_actuator_without_feedback.cpp
index 3c7a6b887..6feb8067c 100644
--- a/example_14/hardware/rrbot_actuator_without_feedback.cpp
+++ b/example_14/hardware/rrbot_actuator_without_feedback.cpp
@@ -183,21 +183,23 @@ hardware_interface::return_type RRBotActuatorWithoutFeedback::read(
 hardware_interface::return_type ros2_control_demo_example_14::RRBotActuatorWithoutFeedback::write(
   const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
 {
-  // START: This part here is for exemplary purposes - Please do not copy to your production code
-  RCLCPP_INFO(
-    rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Writing command: %f", hw_joint_command_);
-
-  // Simulate sending commands to the hardware
-  std::ostringstream data;
-  data << hw_joint_command_;
-  RCLCPP_INFO(
-    rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Sending data command: %s",
-    data.str().c_str());
-  send(sock_, data.str().c_str(), strlen(data.str().c_str()), 0);
+  if (std::isfinite(hw_joint_command_))
+  {
+    // START: This part here is for exemplary purposes - Please do not copy to your production code
+    RCLCPP_INFO(
+      rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Writing command: %f", hw_joint_command_);
 
-  RCLCPP_INFO(rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Joints successfully written!");
-  // END: This part here is for exemplary purposes - Please do not copy to your production code
+    // Simulate sending commands to the hardware
+    std::ostringstream data;
+    data << hw_joint_command_;
+    RCLCPP_INFO(
+      rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Sending data command: %s",
+      data.str().c_str());
+    send(sock_, data.str().c_str(), strlen(data.str().c_str()), 0);
 
+    RCLCPP_INFO(rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Joints successfully written!");
+    // END: This part here is for exemplary purposes - Please do not copy to your production code
+  }
   return hardware_interface::return_type::OK;
 }
 
diff --git a/example_2/bringup/launch/diffbot.launch.py b/example_2/bringup/launch/diffbot.launch.py
index 7a71af0b8..04b454a0f 100644
--- a/example_2/bringup/launch/diffbot.launch.py
+++ b/example_2/bringup/launch/diffbot.launch.py
@@ -73,7 +73,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_3/bringup/launch/rrbot_system_multi_interface.launch.py b/example_3/bringup/launch/rrbot_system_multi_interface.launch.py
index e10c7997e..969cf745f 100644
--- a/example_3/bringup/launch/rrbot_system_multi_interface.launch.py
+++ b/example_3/bringup/launch/rrbot_system_multi_interface.launch.py
@@ -119,7 +119,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_4/bringup/launch/rrbot_system_with_sensor.launch.py b/example_4/bringup/launch/rrbot_system_with_sensor.launch.py
index b95039147..857d5963e 100644
--- a/example_4/bringup/launch/rrbot_system_with_sensor.launch.py
+++ b/example_4/bringup/launch/rrbot_system_with_sensor.launch.py
@@ -111,7 +111,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py b/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py
index 229195642..675499902 100755
--- a/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py
+++ b/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py
@@ -111,7 +111,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_6/bringup/launch/rrbot_modular_actuators.launch.py b/example_6/bringup/launch/rrbot_modular_actuators.launch.py
index 24821fd70..8c097d899 100644
--- a/example_6/bringup/launch/rrbot_modular_actuators.launch.py
+++ b/example_6/bringup/launch/rrbot_modular_actuators.launch.py
@@ -119,7 +119,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_7/bringup/launch/r6bot_controller.launch.py b/example_7/bringup/launch/r6bot_controller.launch.py
index bc3e048ba..135c69453 100644
--- a/example_7/bringup/launch/r6bot_controller.launch.py
+++ b/example_7/bringup/launch/r6bot_controller.launch.py
@@ -52,7 +52,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         remappings=[
             (
                 "/forward_position_controller/commands",
diff --git a/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py b/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py
index f42999770..4476a3f35 100644
--- a/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py
+++ b/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py
@@ -96,7 +96,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_9/bringup/launch/rrbot.launch.py b/example_9/bringup/launch/rrbot.launch.py
index 2a61c1cee..fbc54bcc0 100644
--- a/example_9/bringup/launch/rrbot.launch.py
+++ b/example_9/bringup/launch/rrbot.launch.py
@@ -68,7 +68,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(