diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py
index 1d1ab86bc..72de393ab 100644
--- a/ur_robot_driver/launch/ur_control.launch.py
+++ b/ur_robot_driver/launch/ur_control.launch.py
@@ -355,8 +355,12 @@ def controller_spawner(controllers, active=True):
         controllers_active.append(initial_joint_controller.perform(context))
         controllers_inactive.remove(initial_joint_controller.perform(context))
 
-    controller_spawners = [controller_spawner(controllers_active)] + [
-        controller_spawner(controllers_inactive, active=False)
+    if use_fake_hardware.perform(context) == "true":
+        controllers_active.remove("tcp_pose_broadcaster")
+
+    controller_spawners = [
+        controller_spawner(controllers_active),
+        controller_spawner(controllers_inactive, active=False),
     ]
 
     nodes_to_start = [