diff --git a/urc_bringup/launch/bringup_simulation.launch.py b/urc_bringup/launch/bringup_simulation.launch.py
index 4a07c7bb..8c392c28 100644
--- a/urc_bringup/launch/bringup_simulation.launch.py
+++ b/urc_bringup/launch/bringup_simulation.launch.py
@@ -129,12 +129,6 @@ def generate_launch_description():
         remappings=[("/cmd_vel_out", "/rover_drivetrain_controller/cmd_vel")],
     )
 
-    zero_cmd_vel_node = Node(
-        package="urc_platform",
-        executable="urc_platform_ZeroCmdVelNode",
-        output="screen",
-    )
-
     # ekf_launch = IncludeLaunchDescription(
     #     PythonLaunchDescriptionSource(
     #         [FindPackageShare("urc_localization"),
@@ -224,7 +218,6 @@ def generate_launch_description():
                     ],
                 )
             ),
-            zero_cmd_vel_node,
             enable_color,
             gazebo,
             load_robot_state_publisher,
diff --git a/urc_platform/CMakeLists.txt b/urc_platform/CMakeLists.txt
index 5bcc50b3..1d497ddd 100644
--- a/urc_platform/CMakeLists.txt
+++ b/urc_platform/CMakeLists.txt
@@ -19,7 +19,6 @@ include_directories(
 # Library creation
 add_library(${PROJECT_NAME} SHARED
   src/joystick_driver.cpp
-  src/zero_cmd_vel_node.cpp
 )
 
 set(dependencies
@@ -42,12 +41,6 @@ rclcpp_components_register_node(
   EXECUTABLE ${PROJECT_NAME}_JoystickDriver
 )
 
-rclcpp_components_register_node(
-  ${PROJECT_NAME}
-  PLUGIN "zero_cmd_vel_node::ZeroCmdVelNode"
-  EXECUTABLE ${PROJECT_NAME}_ZeroCmdVelNode
-)
-
 # Install launch files.
 install(
   DIRECTORY
diff --git a/urc_platform/include/zero_cmd_vel_node.hpp b/urc_platform/include/zero_cmd_vel_node.hpp
deleted file mode 100644
index 723b8239..00000000
--- a/urc_platform/include/zero_cmd_vel_node.hpp
+++ /dev/null
@@ -1,22 +0,0 @@
-#ifndef JOYSTICK_DRIVER_H
-#define JOYSTICK_DRIVER_H
-
-#include <geometry_msgs/msg/twist_stamped.hpp>
-#include <rclcpp/publisher.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp_components/register_node_macro.hpp>
-
-namespace zero_cmd_vel_node {
-class ZeroCmdVelNode : public rclcpp::Node {
-public:
-  explicit ZeroCmdVelNode(const rclcpp::NodeOptions &options);
-
-private:
-  void publish_zero_cmd_vel();
-  std::shared_ptr<rclcpp::Publisher<geometry_msgs::msg::TwistStamped>>
-      drivetrain_cmd_publisher;
-  rclcpp::TimerBase::SharedPtr timer_;
-};
-} // namespace zero_cmd_vel_node
-
-#endif
diff --git a/urc_platform/src/zero_cmd_vel_node.cpp b/urc_platform/src/zero_cmd_vel_node.cpp
deleted file mode 100644
index 2cb24ca9..00000000
--- a/urc_platform/src/zero_cmd_vel_node.cpp
+++ /dev/null
@@ -1,26 +0,0 @@
-#include "zero_cmd_vel_node.hpp"
-
-namespace zero_cmd_vel_node {
-
-ZeroCmdVelNode::ZeroCmdVelNode(const rclcpp::NodeOptions &options)
-    : rclcpp::Node("zero_cmd_vel_node", options) {
-  declare_parameter("zero_cmd_vel_topic", "/cmd_vel_zero");
-  drivetrain_cmd_publisher = create_publisher<geometry_msgs::msg::TwistStamped>(
-      get_parameter("zero_cmd_vel_topic").as_string(),
-      rclcpp::SystemDefaultsQoS());
-
-  timer_ = this->create_wall_timer(
-      std::chrono::milliseconds(100),
-      std::bind(&ZeroCmdVelNode::publish_zero_cmd_vel, this));
-}
-
-void ZeroCmdVelNode::publish_zero_cmd_vel() {
-  geometry_msgs::msg::TwistStamped zero_cmd_vel;
-  zero_cmd_vel.twist.linear.x = 0.0;
-  zero_cmd_vel.twist.angular.z = 0.0;
-  drivetrain_cmd_publisher->publish(zero_cmd_vel);
-
-} // namespace zero_cmd_vel_node
-} // namespace zero_cmd_vel_node
-
-RCLCPP_COMPONENTS_REGISTER_NODE(zero_cmd_vel_node::ZeroCmdVelNode);