diff --git a/controller_manager/test/test_controller_manager_srvs.cpp b/controller_manager/test/test_controller_manager_srvs.cpp
index b98e280996..58c6920648 100644
--- a/controller_manager/test/test_controller_manager_srvs.cpp
+++ b/controller_manager/test/test_controller_manager_srvs.cpp
@@ -467,49 +467,6 @@ TEST_F(TestControllerManagerSrvs, unload_controller_srv)
   EXPECT_EQ(0u, cm_->get_loaded_controllers().size());
 }
 
-TEST_F(TestControllerManagerSrvs, robot_description_on_load_and_unload_controller)
-{
-  rclcpp::executors::SingleThreadedExecutor srv_executor;
-  rclcpp::Node::SharedPtr srv_node = std::make_shared<rclcpp::Node>("srv_client");
-  srv_executor.add_node(srv_node);
-  rclcpp::Client<controller_manager_msgs::srv::UnloadController>::SharedPtr unload_client =
-    srv_node->create_client<controller_manager_msgs::srv::UnloadController>(
-      "test_controller_manager/unload_controller");
-
-  auto test_controller = std::make_shared<TestController>();
-  auto abstract_test_controller = cm_->add_controller(
-    test_controller, test_controller::TEST_CONTROLLER_NAME,
-    test_controller::TEST_CONTROLLER_CLASS_NAME);
-  EXPECT_EQ(1u, cm_->get_loaded_controllers().size());
-
-  // check the robot description
-  ASSERT_EQ(ros2_control_test_assets::minimal_robot_urdf, test_controller->get_robot_description());
-
-  // Now change the robot description and then see that the controller maintains the old URDF until
-  // it is unloaded and loaded again
-  auto msg = std_msgs::msg::String();
-  msg.data = ros2_control_test_assets::minimal_robot_missing_state_keys_urdf;
-  cm_->robot_description_callback(msg);
-  ASSERT_EQ(ros2_control_test_assets::minimal_robot_urdf, test_controller->get_robot_description());
-
-  // now unload and load the controller and see if the controller gets the new robot description
-  auto unload_request = std::make_shared<controller_manager_msgs::srv::UnloadController::Request>();
-  unload_request->name = test_controller::TEST_CONTROLLER_NAME;
-  auto result = call_service_and_wait(*unload_client, unload_request, srv_executor, true);
-  EXPECT_EQ(
-    lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, test_controller->get_state().id());
-  EXPECT_EQ(0u, cm_->get_loaded_controllers().size());
-
-  // now load it and check if it got the new robot description
-  cm_->add_controller(
-    test_controller, test_controller::TEST_CONTROLLER_NAME,
-    test_controller::TEST_CONTROLLER_CLASS_NAME);
-  EXPECT_EQ(1u, cm_->get_loaded_controllers().size());
-  ASSERT_EQ(
-    ros2_control_test_assets::minimal_robot_missing_state_keys_urdf,
-    test_controller->get_robot_description());
-}
-
 TEST_F(TestControllerManagerSrvs, configure_controller_srv)
 {
   rclcpp::executors::SingleThreadedExecutor srv_executor;