diff --git a/launch/headless_spiri_with_tether_mocap.launch b/launch/headless_spiri_with_tether_mocap.launch
deleted file mode 100644
index 1c0bb7e..0000000
--- a/launch/headless_spiri_with_tether_mocap.launch
+++ /dev/null
@@ -1,54 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-    <!-- MAVROS posix SITL environment launch script -->
-    <!-- launches MAVROS, PX4 SITL, Gazebo environment, and spawns vehicle -->
-    <!-- vehicle pose -->
-    <arg name="x" default="0"/>
-    <arg name="y" default="0"/>
-    <arg name="z" default="0"/>
-    <arg name="R" default="0"/>
-    <arg name="P" default="0"/>
-    <arg name="Y" default="0"/>
-    <!-- vehicle model and world -->
-    <arg name="est" default="ekf2"/>
-    <arg name="vehicle" default="spiri_with_tether"/>
-    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/citadel_hill_world.world"/>
-    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
-
-    <!-- gazebo configs -->
-    <arg name="gui" default="false"/>
-    <arg name="debug" default="false"/>
-    <arg name="verbose" default="false"/>
-    <arg name="paused" default="false"/>
-    <arg name="respawn_gazebo" default="false"/>
-    <!-- MAVROS configs -->
-    <arg name="fcu_url" default="udp://:14540@localhost:14557"/>
-    <arg name="respawn_mavros" default="false"/>
-    <!-- PX4 configs -->
-    <arg name="interactive" default="true"/>
-    <!-- PX4 SITL and Gazebo -->
-    <include file="$(find px4)/launch/posix_sitl.launch">
-        <arg name="x" value="$(arg x)"/>
-        <arg name="y" value="$(arg y)"/>
-        <arg name="z" value="$(arg z)"/>
-        <arg name="R" value="$(arg R)"/>
-        <arg name="P" value="$(arg P)"/>
-        <arg name="Y" value="$(arg Y)"/>
-        <arg name="world" value="$(arg world)"/>
-        <arg name="vehicle" value="$(arg vehicle)"/>
-        <arg name="sdf" value="$(arg sdf)"/>
-        <arg name="gui" value="$(arg gui)"/>
-        <arg name="interactive" value="$(arg interactive)"/>
-        <arg name="debug" value="$(arg debug)"/>
-        <arg name="verbose" value="$(arg verbose)"/>
-        <arg name="paused" value="$(arg paused)"/>
-        <arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/>
-    </include>
-    <!-- MAVROS -->
-    <include file="$(find oscillation_ctrl)/launch/px4.launch">
-        <!-- GCS link is provided by SITL -->
-        <arg name="gcs_url" value=""/>
-        <arg name="fcu_url" value="$(arg fcu_url)"/>
-        <arg name="respawn_mavros" value="$(arg respawn_mavros)"/>
-    </include>
-</launch>