diff --git a/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py b/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py
index 092afe782cfc6..e6a35bd420bf3 100644
--- a/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py
+++ b/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py
@@ -84,10 +84,6 @@ def launch_setup(context, *args, **kwargs):
                 ),
             ]
         )
-    else:
-        raise ValueError(
-            "Invalid motion_publish_mode specified. Please choose 'pose_only' or 'full_motion'."
-        )
 
     simple_planning_simulator_node = Node(
         package="simple_planning_simulator",