diff --git a/prbt_ikfast_manipulator_plugin/test/testdata.xml b/prbt_ikfast_manipulator_plugin/test/testdata.xml
deleted file mode 100644
index c6c393b30..000000000
--- a/prbt_ikfast_manipulator_plugin/test/testdata.xml
+++ /dev/null
@@ -1,137 +0,0 @@
-<testdata>
-
-    <poses>
-
-        <pos name="ZeroPose">
-            <group name="manipulator">
-                <joints>0.0 0.0 0.0 0.0 0.0 0.0</joints>
-            </group>
-        </pos>
-
-        <pos name="PTPJointInvalid">
-            <group name="manipulator">
-                <joints>0.0 10.0 0.0 0.0 0.0 0.0</joints>
-            </group>
-        </pos>
-
-        <pos name="PTPJointValid">
-            <group name="manipulator">
-                <joints>0 pi/4.0 pi/4.0 0 pi/2.0 0</joints>
-            </group>
-        </pos>
-
-        <pos name="StartPose">
-            <group name="manipulator">
-                <joints>0 pi/4.0 -pi/4.0 0 pi/2.0 0</joints>
-            </group>
-        </pos>
-
-        <pos name="StartPoseDec">
-            <group name="manipulator">
-                <joints>0 0.785 -0.785 0 1.571 0</joints>
-            </group>
-        </pos>
-
-        <pos name="CartValid">
-            <group name="manipulator">
-                <xyzQuat link_name="prbt_tcp">0.45 -0.05 0.42 0.0 0.0 0.0 1.0</xyzQuat>
-            </group>
-        </pos>
-
-        <pos name="CartRel_1">
-            <group name="manipulator">
-                <xyzQuat link_name="prbt_tcp">-0.35 0 0.3 0.0 0.0 0.0 1.0</xyzQuat>
-            </group>
-        </pos>
-
-        <pos name="CartInvalid">
-            <group name="manipulator">
-                <xyzQuat link_name="prbt_tcp">0.45 -0.05 0.90 0.0 0.0 0.0 1.0</xyzQuat>
-            </group>
-        </pos>
-
-        <pos name="CartRel_2">
-            <group name="manipulator">
-                <xyzQuat link_name="prbt_tcp">-0.35 0 0.8 0.0 0.0 0.0 1.0</xyzQuat>
-            </group>
-        </pos>
-
-        <pos name="CIRCCenterPose">
-            <group name="manipulator">
-                <xyzQuat link_name="prbt_tcp">0.4 -0.05 0.47 0.0 0.0 0.0 1.0</xyzQuat>
-            </group>
-        </pos>
-
-        <pos name="CIRCInterimPose">
-            <group name="manipulator">
-                <xyzQuat link_name="prbt_tcp">0.435 -0.0835 0.47 0.0 0.0 0.0 1.0</xyzQuat>
-            </group>
-        </pos>
-
-        <pos name="CIRCGoalPose">
-            <group name="manipulator">
-                <xyzQuat link_name="prbt_tcp">0.4 -0.1 0.52 0.0 0.0 0.0 1.0</xyzQuat>
-            </group>
-        </pos>
-
-
-
-        <pos name="LINPose1">
-            <group name="manipulator">
-                <joints>0.0 -0.52 1.13 0.0 -1.57 0.0</joints>
-            </group>
-            <group name="gripper">
-                <joints>0</joints>
-            </group>
-        </pos>
-
-        <pos name="LINPose2">
-            <group name="manipulator">
-                <joints>0.0 -0.63 1.4 0.0 1.19 0.0</joints>
-            </group>
-            <group name="gripper">
-                <joints>0</joints>
-            </group>
-        </pos>
-
-        <pos name="LINPose3">
-            <group name="manipulator">
-                <joints>0.463648 -0.418738 1.03505 0.0 -1.45379 -0.149488</joints>
-            </group>
-            <group name="gripper">
-                <joints>0</joints>
-            </group>
-        </pos>
-
-        <pos name="LINPose4">
-            <group name="manipulator">
-                <joints>0.0 0.278259 2.11585 0.0 -1.83759 0.785398</joints>
-            </group>
-            <group name="gripper">
-                <joints>0</joints>
-            </group>
-        </pos>
-
-    </poses>
-
-    <lins>
-        <lin name="LINCmd1">
-            <planningGroup>manipulator</planningGroup>
-            <targetLink>prbt_tcp</targetLink>
-            <startPos>LINPose1</startPos>
-            <endPos>LINPose2</endPos>
-            <vel>0.4</vel>
-            <acc>0.3</acc>
-        </lin>
-
-        <lin name="LINCmd2">
-            <planningGroup>manipulator</planningGroup>
-            <targetLink>prbt_tcp</targetLink>
-            <startPos>LINPose3</startPos>
-            <endPos>LINPose4</endPos>
-            <vel>0.2</vel>
-            <acc>0.2</acc>
-        </lin>
-    </lins>
-
-</testdata>
diff --git a/prbt_ikfast_manipulator_plugin/test/unittests/tst_prbt_ikfast_manipulator_plugin.test b/prbt_ikfast_manipulator_plugin/test/unittests/tst_prbt_ikfast_manipulator_plugin.test
index 9b7759d41..5f9c5f89b 100644
--- a/prbt_ikfast_manipulator_plugin/test/unittests/tst_prbt_ikfast_manipulator_plugin.test
+++ b/prbt_ikfast_manipulator_plugin/test/unittests/tst_prbt_ikfast_manipulator_plugin.test
@@ -1,6 +1,5 @@
 <launch>
   <arg name="debug" default="false"/>
-  <param name="prbt_ikfast_manipulator_plugin/testdata_file_name" value="$(find prbt_ikfast_manipulator_plugin)/test/testdata.xml" type="str"/>
 
   <include file="$(find prbt_moveit_config)/launch/planning_context.launch">
     <arg name="load_robot_description" value="true"/>