diff --git a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/vehicle_topics.launch
index 495200ee..f3f6ad82 100644
--- a/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/vehicle_topics.launch
+++ b/submitted_models/ctu_cras_norlab_spot_sensor_config_1/launch/vehicle_topics.launch
@@ -69,9 +69,6 @@
             <arg name="node_name_suffix" value="imu_vras" />
         </include>
 
-        <!-- Mapping Server -->
-        <include file="$(find subt_ros)/launch/models_common/mapping_server_relays.launch">
-          <arg name="name" value="$(arg name)"/>
-        </include>
+        <!-- Mapping Server relays are included from the base model -->
     </group>
 </launch>
diff --git a/submitted_models/marble_spot_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/marble_spot_sensor_config_1/launch/vehicle_topics.launch
index a3d794b8..25fa6239 100644
--- a/submitted_models/marble_spot_sensor_config_1/launch/vehicle_topics.launch
+++ b/submitted_models/marble_spot_sensor_config_1/launch/vehicle_topics.launch
@@ -87,10 +87,7 @@
             <arg name="node_name_suffix" value="imu_vras" />
         </include>
 
-        <!-- Mapping Server -->
-        <include file="$(find subt_ros)/launch/models_common/mapping_server_relays.launch">
-          <arg name="name" value="$(arg name)"/>
-        </include>
+        <!-- Mapping Server relays are included from the base model -->
 
     </group>
 </launch>
diff --git a/submitted_models/marble_spot_sensor_config_2/launch/vehicle_topics.launch b/submitted_models/marble_spot_sensor_config_2/launch/vehicle_topics.launch
index 27f28a47..a76ef78b 100644
--- a/submitted_models/marble_spot_sensor_config_2/launch/vehicle_topics.launch
+++ b/submitted_models/marble_spot_sensor_config_2/launch/vehicle_topics.launch
@@ -87,9 +87,6 @@
             <arg name="node_name_suffix" value="imu_vras" />
         </include>
 
-        <!-- Mapping Server -->
-        <include file="$(find subt_ros)/launch/models_common/mapping_server_relays.launch">
-          <arg name="name" value="$(arg name)"/>
-        </include>
+        <!-- Mapping Server relays are included from the base model -->
     </group>
 </launch>