diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py
index d0c5e1e4a..7f834a1d0 100644
--- a/ur_robot_driver/launch/ur_control.launch.py
+++ b/ur_robot_driver/launch/ur_control.launch.py
@@ -183,6 +183,9 @@ def controller_spawner(controllers, active=True):
         controllers_active.append(initial_joint_controller.perform(context))
         controllers_inactive.remove(initial_joint_controller.perform(context))
 
+    if use_mock_hardware.perform(context) == "true":
+        controllers_active.remove("tcp_pose_broadcaster")
+
     controller_spawners = [
         controller_spawner(controllers_active),
         controller_spawner(controllers_inactive, active=False),