diff --git a/ur_moveit_config/launch/ur_moveit.launch.py b/ur_moveit_config/launch/ur_moveit.launch.py
index cd7436054..07a46ed60 100644
--- a/ur_moveit_config/launch/ur_moveit.launch.py
+++ b/ur_moveit_config/launch/ur_moveit.launch.py
@@ -156,9 +156,18 @@ def launch_setup(context, *args, **kwargs):
     # Planning Configuration
     ompl_planning_pipeline_config = {
         "move_group": {
-            "planning_plugin": "ompl_interface/OMPLPlanner",
-            "request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
-            "start_state_max_bounds_error": 0.1,
+            "planning_plugins": ["ompl_interface/OMPLPlanner"],
+            "request_adapters": [
+                "default_planning_request_adapters/ResolveConstraintFrames",
+                "default_planning_request_adapters/ValidateWorkspaceBounds",
+                "default_planning_request_adapters/CheckStartStateBounds",
+                "default_planning_request_adapters/CheckStartStateCollision",
+            ],
+            "response_adapters": [
+                "default_planning_response_adapters/AddTimeOptimalParameterization",
+                "default_planning_response_adapters/ValidateSolution",
+                "default_planning_response_adapters/DisplayMotionPath",
+            ],
         }
     }
     ompl_planning_yaml = load_yaml("ur_moveit_config", "config/ompl_planning.yaml")