diff --git a/launch/display.rviz b/launch/display.rviz
index 28a0877..ee3b3f3 100644
--- a/launch/display.rviz
+++ b/launch/display.rviz
@@ -7,7 +7,7 @@ Panels:
         - /Global Options1
         - /Status1
       Splitter Ratio: 0.5
-    Tree Height: 549
+    Tree Height: 542
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -80,20 +80,10 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-          Value: true
-        dummy_mimic_fix_l:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        dummy_mimic_fix_r:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
         head_camera_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-          Value: true
         l_gripperA_link:
           Alpha: 1
           Show Axes: false
@@ -218,6 +208,8 @@ Visualization Manager:
       Visual Enabled: true
     - Class: rviz_default_plugins/TF
       Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
       Frame Timeout: 15
       Frames:
         All Enabled: true
@@ -227,10 +219,6 @@ Visualization Manager:
           Value: true
         chest_camera_link:
           Value: true
-        dummy_mimic_fix_l:
-          Value: true
-        dummy_mimic_fix_r:
-          Value: true
         head_camera_link:
           Value: true
         l_gripperA_link:
@@ -320,10 +308,6 @@ Visualization Manager:
                               {}
                             r_gripperB_link:
                               {}
-          dummy_mimic_fix_l:
-            {}
-          dummy_mimic_fix_r:
-            {}
       Update Interval: 0
       Value: true
   Enabled: true
@@ -398,7 +382,7 @@ Window Geometry:
   Height: 846
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002fb00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002acfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f000002ac000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002acfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f000002ac000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000026f00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002ac00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
diff --git a/urdf/sciurus17_left_gripper.xacro b/urdf/sciurus17_left_gripper.xacro
index 9069ae8..bfc5b06 100644
--- a/urdf/sciurus17_left_gripper.xacro
+++ b/urdf/sciurus17_left_gripper.xacro
@@ -59,15 +59,6 @@
       </inertial>
     </link>
 
-    <!--Dummy joint/link to prevent error with mimic joint
-    See https://github.com/ros-controls/gazebo_ros2_control/issues/173
-    -->
-    <joint name="${NAME_JOINT_GRIPPER_L_B}_mimic" type="fixed">
-      <parent link="world" />
-      <child link="dummy_mimic_fix_l" />
-    </joint>
-    <link name="dummy_mimic_fix_l"/>
-
     <joint name="${NAME_JOINT_GRIPPER_L_B}" type="revolute">
       <parent link="${NAME_LINK_ARM_L_7}" />
       <child link="${NAME_LINK_GRIPPER_L_B}" />
diff --git a/urdf/sciurus17_right_gripper.xacro b/urdf/sciurus17_right_gripper.xacro
index e5b9aaf..cb2df2f 100644
--- a/urdf/sciurus17_right_gripper.xacro
+++ b/urdf/sciurus17_right_gripper.xacro
@@ -60,15 +60,6 @@
       </inertial>
     </link>
 
-    <!--Dummy joint/link to prevent error with mimic joint
-    See https://github.com/ros-controls/gazebo_ros2_control/issues/173
-    -->
-    <joint name="${NAME_JOINT_GRIPPER_R_B}_mimic" type="fixed">
-      <parent link="world" />
-      <child link="dummy_mimic_fix_r" />
-    </joint>
-    <link name="dummy_mimic_fix_r"/>
-
     <joint name="${NAME_JOINT_GRIPPER_R_B}" type="revolute">
       <parent link="${NAME_LINK_ARM_R_7}" />
       <child link="${NAME_LINK_GRIPPER_R_B}" />