diff --git a/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py b/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
index ade6d8b..f27dc6e 100644
--- a/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
+++ b/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
@@ -459,10 +459,6 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
         ):
             common_platform_components.append(self.base_station_node)
 
-        # Only add estimator when no BMS is present
-        if self.bms_launch_file is None:
-            common_platform_components.append(self.battery_state_estimator)
-
         if len(self.can_bridges) > 0:
             common_platform_components.extend(self.can_bridges)