diff --git a/src/bitbots_behavior/bitbots_body_behavior/launch/behavior.launch b/src/bitbots_behavior/bitbots_body_behavior/launch/behavior.launch
index cf715e8c2..10bdd4baf 100644
--- a/src/bitbots_behavior/bitbots_body_behavior/launch/behavior.launch
+++ b/src/bitbots_behavior/bitbots_body_behavior/launch/behavior.launch
@@ -3,10 +3,8 @@
     <arg name="tf_prefix" default=""/>
     <arg name="sim" default="false" />
 
-    <let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 2"/>
-    <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
 
-    <node pkg="bitbots_body_behavior" exec="body_behavior" output="screen" launch-prefix="$(var taskset)" respawn="true">
+    <node pkg="bitbots_body_behavior" exec="body_behavior" output="screen" respawn="true">
         <param name="dsd_file" value="$(var dsd_file)"/>
         <param name="actionlib_client_sub_queue_size" value="-1"/>
         <param name="actionlib_client_sub_queue_size" value="-1"/>
diff --git a/src/bitbots_lowlevel/bitbots_ros_control/launch/ros_control.launch b/src/bitbots_lowlevel/bitbots_ros_control/launch/ros_control.launch
index f76b243c3..36247f7b2 100644
--- a/src/bitbots_lowlevel/bitbots_ros_control/launch/ros_control.launch
+++ b/src/bitbots_lowlevel/bitbots_ros_control/launch/ros_control.launch
@@ -6,10 +6,7 @@
     <arg name="only_pressure" default="false"/>
     <arg name="tts" default="true" description="Whether to speak" />
 
-    <let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 0"/>
-    <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
-
-    <node pkg="bitbots_ros_control" exec="ros_control" output="screen" launch-prefix="$(var taskset)">
+    <node pkg="bitbots_ros_control" exec="ros_control" output="screen" >
         <param from="$(find-pkg-share bitbots_ros_control)/config/wolfgang.yaml" />
         <param name="torqueless_mode" value="$(var torqueless_mode)"/>
         <param name="only_imu" value="$(var only_imu)"/>
diff --git a/src/bitbots_misc/bitbots_basler_camera/launch/basler_camera.launch b/src/bitbots_misc/bitbots_basler_camera/launch/basler_camera.launch
index 56263a669..29a638115 100644
--- a/src/bitbots_misc/bitbots_basler_camera/launch/basler_camera.launch
+++ b/src/bitbots_misc/bitbots_basler_camera/launch/basler_camera.launch
@@ -1,9 +1,7 @@
 <?xml version="1.0" encoding="utf-8" ?>
 <launch>
-    <let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 7"/>
-    <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
 
-    <node pkg="bitbots_basler_camera" exec="basler_camera" name="basler_camera_driver" output="screen" launch-prefix="$(var taskset)">
+    <node pkg="bitbots_basler_camera" exec="basler_camera" name="basler_camera_driver" output="screen" >
         <param name="device_user_id" value="$(env ROBOT_NAME default)" />
         <param name="camera_info_url" value="package://bitbots_basler_camera/config/camera_calibration_$(env ROBOT_NAME default).yaml" />
     </node>
diff --git a/src/bitbots_misc/bitbots_ceiling_cam/launch/ceiling_cam.launch b/src/bitbots_misc/bitbots_ceiling_cam/launch/ceiling_cam.launch
index de3c237db..031e1d896 100644
--- a/src/bitbots_misc/bitbots_ceiling_cam/launch/ceiling_cam.launch
+++ b/src/bitbots_misc/bitbots_ceiling_cam/launch/ceiling_cam.launch
@@ -3,7 +3,7 @@
     <node pkg="tf2_ros" exec="static_transform_publisher" name="field_mount" args="--x -0.051 --y -0.113 --z 3.370 --qx -0.997 --qy -0.012 --qz 0.070 --qw 0.026 --frame-id ceiling_cam --child-frame-id field" />
 
     <!-- camera driver -->
-    <node pkg="bitbots_basler_camera" exec="basler_camera" name="ceiling_cam_publisher" output="screen" launch-prefix="$(var taskset)">
+    <node pkg="bitbots_basler_camera" exec="basler_camera" name="ceiling_cam_publisher" output="screen" >
         <param from="$(find-pkg-share bitbots_ceiling_cam)/config/camera_settings_ceiling_cam.yaml">
         <remap from="/camera/image_proc" to="/ceiling_cam/ceiling_cam_publisher/image_proc"/>
         <remap from="/camera/camera_info" to="/ceiling_cam/ceiling_cam_publisher/camera_info"/>
diff --git a/src/bitbots_motion/bitbots_animation_server/launch/animation.launch b/src/bitbots_motion/bitbots_animation_server/launch/animation.launch
index 5984c16df..242309fbc 100644
--- a/src/bitbots_motion/bitbots_animation_server/launch/animation.launch
+++ b/src/bitbots_motion/bitbots_animation_server/launch/animation.launch
@@ -1,9 +1,7 @@
 <launch>
     <arg name="sim" default="false" description="Disables some checks for hardware, since we are in simulation."/>
-    <let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
-    <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
 
-    <node pkg="bitbots_animation_server" exec="animation_node"  output="screen" launch-prefix="$(var taskset)">
+    <node pkg="bitbots_animation_server" exec="animation_node"  output="screen" >
         <param name="use_sim_time" value="$(var sim)" />
     </node>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/src/bitbots_motion/bitbots_animation_server/launch/test.launch b/src/bitbots_motion/bitbots_animation_server/launch/test.launch
index 0047584d3..eb974d4b7 100644
--- a/src/bitbots_motion/bitbots_animation_server/launch/test.launch
+++ b/src/bitbots_motion/bitbots_animation_server/launch/test.launch
@@ -1,7 +1,5 @@
 <launch>
   <arg name="sim" default="false"/>
-  <let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
-  <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
 
   <group unless="$(var sim)">
     <include file="$(find-pkg-share bitbots_ros_control)/launch/ros_control.launch" />
@@ -10,6 +8,6 @@
   <include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch" />
   <include file="$(find-pkg-share bitbots_robot_description)/launch/load_robot_description.launch" />
 
-  <node pkg="bitbots_animation_server" exec="animation_node" output="screen" launch-prefix="$(var taskset)"/>
-  <node name="animation_hcm_bridge" pkg="bitbots_animation_server" exec="animation_hcm_bridge.py"  output="screen" launch-prefix="$(var taskset)"/>
+  <node pkg="bitbots_animation_server" exec="animation_node" output="screen"/>
+  <node name="animation_hcm_bridge" pkg="bitbots_animation_server" exec="animation_hcm_bridge.py"  output="screen" />
 </launch>
diff --git a/src/bitbots_motion/bitbots_dynamic_kick/launch/dynamic_kick.launch b/src/bitbots_motion/bitbots_dynamic_kick/launch/dynamic_kick.launch
index 5b9e02861..36227185b 100644
--- a/src/bitbots_motion/bitbots_dynamic_kick/launch/dynamic_kick.launch
+++ b/src/bitbots_motion/bitbots_dynamic_kick/launch/dynamic_kick.launch
@@ -3,17 +3,14 @@
   <arg name="viz" default="false"/>
   <let name="tf_prefix" value="$(eval '\'$(env ROS_NAMESPACE not_defined)\' if \'$(env ROS_NAMESPACE not_defined)\' != \'not_defined\' else \'\'')"/>
 
-  <let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
-  <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
-
-  <group unless="$(var sim)">
-    <node pkg="bitbots_dynamic_kick" exec="KickNode" output="screen" launch-prefix="$(var taskset)">
+  <group unless="$(var sim)"
+    <node pkg="bitbots_dynamic_kick" exec="KickNode" output="screen" >
         <param from="$(find-pkg-share bitbots_dynamic_kick)/config/kick_config.yaml" />
     </node>
   </group>
 
   <group if="$(var sim)">
-      <node pkg="bitbots_dynamic_kick" exec="KickNode" output="screen" launch-prefix="$(var taskset)">
+      <node pkg="bitbots_dynamic_kick" exec="KickNode" output="screen" >
           <param from="$(find-pkg-share bitbots_dynamic_kick)/config/kick_sim_config.yaml" />
           <param name="use_sim_time" value="true"/>
       </node>
diff --git a/src/bitbots_motion/bitbots_dynamic_kick/launch/test.launch b/src/bitbots_motion/bitbots_dynamic_kick/launch/test.launch
index 1d3e10601..36b6fe10b 100644
--- a/src/bitbots_motion/bitbots_dynamic_kick/launch/test.launch
+++ b/src/bitbots_motion/bitbots_dynamic_kick/launch/test.launch
@@ -3,8 +3,6 @@
     <arg name="sim" default="false"/>
     <arg name="viz" default="false"/>
 
-    <let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
-    <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
 
     <include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch" >
         <arg name="sim" value="$(var sim)"/>
@@ -29,7 +27,7 @@
     <group unless="$(var sim)">
         <group unless="$(var viz)">
             <include file="$(find-pkg-share bitbots_ros_control)/launch/ros_control.launch" />
-            <node pkg="bitbots_dynamic_kick" exec="KickNode" output="screen" launch-prefix="$(var taskset)">
+            <node pkg="bitbots_dynamic_kick" exec="KickNode" output="screen" >
                 <remap from="/kick_motor_goals" to="/DynamixelController/command"/>
                 <param from="$(find-pkg-share bitbots_dynamic_kick)/config/kick_config.yaml" />
             </node>
@@ -37,14 +35,14 @@
     </group>
 
     <group if="$(var sim)">
-        <node pkg="bitbots_dynamic_kick" exec="KickNode" output="screen" launch-prefix="$(var taskset)">
+        <node pkg="bitbots_dynamic_kick" exec="KickNode" output="screen" >
             <remap from="/kick_motor_goals" to="/DynamixelController/command"/>
             <param from="$(find-pkg-share bitbots_dynamic_kick)/config/kick_sim_config.yaml" />
         </node>
     </group>
 
     <group if="$(var viz)">
-        <node pkg="bitbots_dynamic_kick" exec="KickNode" output="screen" launch-prefix="$(var taskset)">
+        <node pkg="bitbots_dynamic_kick" exec="KickNode" output="screen" >
             <param from="$(find-pkg-share bitbots_dynamic_kick)/config/kick_sim_config.yaml" />
         </node>
         <node pkg="bitbots_utils" exec="motor_goals_viz_helper.py" output="screen" args="--kick" />
diff --git a/src/bitbots_motion/bitbots_dynup/launch/dynup.launch b/src/bitbots_motion/bitbots_dynup/launch/dynup.launch
index 7c8eeb3d8..7c63e29eb 100644
--- a/src/bitbots_motion/bitbots_dynup/launch/dynup.launch
+++ b/src/bitbots_motion/bitbots_dynup/launch/dynup.launch
@@ -1,11 +1,9 @@
 <launch>
     <let name="tf_prefix" value="$(eval '\'$(env ROS_NAMESPACE not_defined)\' if \'$(env ROS_NAMESPACE not_defined)\' != \'not_defined\' else \'\'')"/>
     <arg name="sim" default="false"/>
-    <let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
-    <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
 
     <group unless="$(var sim)">
-        <node pkg="bitbots_dynup" exec="DynupNode" output="screen" launch-prefix="$(var taskset)">
+        <node pkg="bitbots_dynup" exec="DynupNode" output="screen" >
             <param name="base_link_frame" value="$(var tf_prefix)base_link"/>
             <param name="r_sole_frame" value="$(var tf_prefix)r_sole"/>
             <param name="l_sole_frame" value="$(var tf_prefix)l_sole"/>
@@ -14,7 +12,7 @@
         </node>
     </group>
     <group if="$(var sim)">
-        <node pkg="bitbots_dynup" exec="DynupNode" output="screen" launch-prefix="$(var taskset)">
+        <node pkg="bitbots_dynup" exec="DynupNode" output="screen" >
             <param name="base_link_frame" value="$(var tf_prefix)base_link"/>
             <param name="r_sole_frame" value="$(var tf_prefix)r_sole"/>
             <param name="l_sole_frame" value="$(var tf_prefix)l_sole"/>
diff --git a/src/bitbots_motion/bitbots_dynup/launch/test.launch b/src/bitbots_motion/bitbots_dynup/launch/test.launch
index 1bcc5845c..b16c85bb4 100644
--- a/src/bitbots_motion/bitbots_dynup/launch/test.launch
+++ b/src/bitbots_motion/bitbots_dynup/launch/test.launch
@@ -5,9 +5,6 @@
   <arg name="viz" default="false"/>
   <arg name="robot_type" default="wolfgang"/>
 
-  <let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
-  <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
-
   <include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch" >
     <arg name="sim" value="$(var sim)"/>
   </include>
@@ -20,7 +17,7 @@
   <group unless="$(var sim)">
     <group unless="$(var viz)">
       <include file="$(find-pkg-share bitbots_ros_control)/launch/ros_control.launch" />
-      <node pkg="bitbots_dynup" exec="DynupNode" output="screen" launch-prefix="$(var taskset)">
+      <node pkg="bitbots_dynup" exec="DynupNode" output="screen" >
         <param name="base_link_frame" value="$(var tf_prefix)base_link"/>
         <param name="r_sole_frame" value="$(var tf_prefix)r_sole"/>
         <param name="l_sole_frame" value="$(var tf_prefix)l_sole"/>
@@ -33,7 +30,7 @@
   </group>
 
   <group if="$(var sim)">
-    <node pkg="bitbots_dynup" exec="DynupNode" output="screen" launch-prefix="$(var taskset)">
+    <node pkg="bitbots_dynup" exec="DynupNode" output="screen" >
       <param name="base_link_frame" value="$(var tf_prefix)base_link"/>
       <param name="r_sole_frame" value="$(var tf_prefix)r_sole"/>
       <param name="l_sole_frame" value="$(var tf_prefix)l_sole"/>
@@ -46,7 +43,7 @@
 
   <group if="$(var viz)">
     <node pkg="bitbots_utils" exec="motor_goals_viz_helper.py" args="--all" />
-    <node pkg="bitbots_dynup" exec="DynupNode" output="screen" launch-prefix="$(var taskset)">
+    <node pkg="bitbots_dynup" exec="DynupNode" output="screen" >
       <param name="base_link_frame" value="$(var tf_prefix)base_link"/>
       <param name="r_sole_frame" value="$(var tf_prefix)r_sole"/>
       <param name="l_sole_frame" value="$(var tf_prefix)l_sole"/>
diff --git a/src/bitbots_motion/bitbots_hcm/launch/hcm.launch b/src/bitbots_motion/bitbots_hcm/launch/hcm.launch
index 329258863..f8212fcb7 100644
--- a/src/bitbots_motion/bitbots_hcm/launch/hcm.launch
+++ b/src/bitbots_motion/bitbots_hcm/launch/hcm.launch
@@ -5,11 +5,8 @@
     <arg name="viz" default="false" description="Disables all checks for hardware, since we are in visualization."/>
     <arg name="wolfgang" default="true"/>
 
-    <let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 1"/>
-    <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
-
     <group if="$(var wolfgang)">
-        <node pkg="bitbots_hcm" exec="HCM" args="" output="screen" launch-prefix="$(var taskset)">
+        <node pkg="bitbots_hcm" exec="HCM" args="" output="screen" >
             <param name="use_sim_time" value="$(var sim)" />
             <param name="simulation_active" value="$(var sim)" />
             <param name="visualization_active" value="$(var viz)" />
diff --git a/src/bitbots_motion/bitbots_head_mover/launch/head_mover.launch b/src/bitbots_motion/bitbots_head_mover/launch/head_mover.launch
index 51a2aa9f6..b1742b2a5 100644
--- a/src/bitbots_motion/bitbots_head_mover/launch/head_mover.launch
+++ b/src/bitbots_motion/bitbots_head_mover/launch/head_mover.launch
@@ -2,8 +2,6 @@
     <arg name="tf_prefix" default=""/>
     <arg name="sim" default="false" />
 
-    <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
-
     <node pkg="bitbots_head_mover" exec="move_head" output="screen" respawn="true">
         <param name="use_sim_time" value="$(var sim)" />
     </node>
diff --git a/src/bitbots_motion/bitbots_quintic_walk/launch/quintic_walk.launch b/src/bitbots_motion/bitbots_quintic_walk/launch/quintic_walk.launch
index 967fc87fa..a345eb5e0 100644
--- a/src/bitbots_motion/bitbots_quintic_walk/launch/quintic_walk.launch
+++ b/src/bitbots_motion/bitbots_quintic_walk/launch/quintic_walk.launch
@@ -3,16 +3,13 @@
   <arg name="sim" default="false"/>
   <arg name="wolfgang" default="false"/>
 
-  <let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
-  <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
-
   <group if="$(var sim)">
-    <node pkg="bitbots_quintic_walk" exec="WalkNode" output="screen" launch-prefix="$(var taskset)">
+    <node pkg="bitbots_quintic_walk" exec="WalkNode" output="screen" >
       <param from="$(find-pkg-share bitbots_quintic_walk)/config/walking_wolfgang_simulator.yaml" />
     </node>
   </group>
   <group unless="$(var sim)">
-    <node pkg="bitbots_quintic_walk" exec="WalkNode" output="screen" launch-prefix="$(var taskset)">
+    <node pkg="bitbots_quintic_walk" exec="WalkNode" output="screen" >
       <param from="$(find-pkg-share bitbots_quintic_walk)/config/walking_wolfgang_robot.yaml" />
       <param from="$(find-pkg-share bitbots_quintic_walk)/config/robots/$(env ROBOT_NAME default).yaml" />
     </node>
diff --git a/src/bitbots_motion/bitbots_quintic_walk/launch/test.launch b/src/bitbots_motion/bitbots_quintic_walk/launch/test.launch
index 85b2ff935..e59294354 100644
--- a/src/bitbots_motion/bitbots_quintic_walk/launch/test.launch
+++ b/src/bitbots_motion/bitbots_quintic_walk/launch/test.launch
@@ -4,9 +4,6 @@
   <arg name="viz" default="false"/>
   <arg name="robot_type" default="wolfgang"/>
 
-  <let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
-  <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
-
   <include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch" >
       <arg name="sim" value="$(var sim)"/>
   </include>
@@ -30,7 +27,7 @@
   <group unless="$(var sim)">
     <group unless="$(var viz)">
       <include file="$(find-pkg-share bitbots_ros_control)/launch/ros_control.launch" />
-      <node pkg="bitbots_quintic_walk" exec="WalkNode" output="screen" launch-prefix="$(var taskset)">
+      <node pkg="bitbots_quintic_walk" exec="WalkNode" output="screen" >
         <param from="$(find-pkg-share bitbots_quintic_walk)/config/walking_$(var robot_type)_robot.yaml"/>
         <remap from="/walking_motor_goals" to="/DynamixelController/command"/>
       </node>
@@ -38,7 +35,7 @@
   </group>
 
   <group if="$(var sim)">
-    <node pkg="bitbots_quintic_walk" exec="WalkNode" output="screen" launch-prefix="$(var taskset)">
+    <node pkg="bitbots_quintic_walk" exec="WalkNode" output="screen" >
       <remap from="/walking_motor_goals" to="/DynamixelController/command"/>
       <param from="$(find-pkg-share bitbots_quintic_walk)/config/walking_$(var robot_type)_simulator.yaml"/>
     </node>
diff --git a/src/bitbots_motion/bitbots_rl_motion/launch/rl_walk.launch b/src/bitbots_motion/bitbots_rl_motion/launch/rl_walk.launch
index 08028179c..4ac54ed21 100644
--- a/src/bitbots_motion/bitbots_rl_motion/launch/rl_walk.launch
+++ b/src/bitbots_motion/bitbots_rl_motion/launch/rl_walk.launch
@@ -2,16 +2,13 @@
   <arg name="tf_prefix" value="$(eval env('ROS_NAMESPACE') + '/' if env('ROS_NAMESPACE') !=  '' else '')"/>
   <arg name="sim" default="false"/>
 
-  <let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
-  <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
-
   <group if="$(var sim)">
     <param from="$(find-pkg-share bitbots_rl_motion)/config/rl_walk_sim.yaml" command="load"/>
   </group>
   <group unless="$(var sim)">
     <param from="$(find-pkg-share bitbots_rl_motion)/config/rl_walk_real.yaml" command="load"/>
   </group>
-  <node name="rl_walk" pkg="bitbots_rl_motion" exec="rl_walk.py" output="screen" launch-prefix="$(var taskset)">
+  <node name="rl_walk" pkg="bitbots_rl_motion" exec="rl_walk.py" output="screen" >
     <param name="base_link_frame" value="$(var tf_prefix)base_link"/>
     <param name="r_sole_frame" value="$(var tf_prefix)r_sole"/>
     <param name="l_sole_frame" value="$(var tf_prefix)l_sole"/>
diff --git a/src/bitbots_motion/bitbots_rl_motion/launch/test.launch b/src/bitbots_motion/bitbots_rl_motion/launch/test.launch
index 638d8babd..6892fad7e 100644
--- a/src/bitbots_motion/bitbots_rl_motion/launch/test.launch
+++ b/src/bitbots_motion/bitbots_rl_motion/launch/test.launch
@@ -3,9 +3,6 @@
   <arg name="sim" default="false"/>
   <arg name="use_darwin" default="false"/>
 
-  <let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
-  <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
-
   <include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch" >
       <arg name="sim" value="$(var sim)"/>
   </include>
@@ -32,13 +29,13 @@
   </group>
 
   <group if="$(var sim)">
-    <node pkg="bitbots_rl_motion" exec="rl_walk.py" output="screen" launch-prefix="$(var taskset)">
+    <node pkg="bitbots_rl_motion" exec="rl_walk.py" output="screen" >
         <remap from="/walking_motor_goals" to="/DynamixelController/command"/>
         <param from="$(find-pkg-share bitbots_rl_motion)/config/rl_walk_sim.yaml"/>
     </node>
   </group>
   <group unless="$(var sim)">
-    <node pkg="bitbots_rl_motion" exec="rl_walk.py" output="screen" launch-prefix="$(var taskset)">
+    <node pkg="bitbots_rl_motion" exec="rl_walk.py" output="screen" >
         <param from="$(find-pkg-share bitbots_rl_motion)/config/rl_walk_real.yaml"/>
     </node>
   </group>
diff --git a/src/bitbots_navigation/bitbots_localization/launch/localization.launch b/src/bitbots_navigation/bitbots_localization/launch/localization.launch
index 744de87d7..16090d1ae 100644
--- a/src/bitbots_navigation/bitbots_localization/launch/localization.launch
+++ b/src/bitbots_navigation/bitbots_localization/launch/localization.launch
@@ -2,14 +2,9 @@
     <!-- define parameters -->
     <arg name="tf_prefix" default=""/>
     <arg name="sim" default="false" description="true: activates simulation time and might load different parameters"/>
-   
-    <let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 8"/>
-    <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
-    <let if="$(env IS_ROBOT false)" name="handler_taskset" value="taskset -c 9"/>
-    <let unless="$(env IS_ROBOT false)" name="handler_taskset" value=""/>
 
     <!-- load localization -->
-    <node pkg="bitbots_localization" exec="localization" name="bitbots_localization" output="screen" launch-prefix="$(var taskset)">
+    <node pkg="bitbots_localization" exec="localization" name="bitbots_localization" output="screen" >
         <!-- load base parameters -->
         <param from="$(find-pkg-share bitbots_localization)/config/config.yaml"/>
         <!-- load correct frames for namespace -->
@@ -20,7 +15,7 @@
         <param name="use_sim_time" value="$(var sim)"/>
     </node>
 
-    <node pkg="bitbots_localization_handler" exec="localization_handler" output="screen" launch-prefix="$(var handler_taskset)">
+    <node pkg="bitbots_localization_handler" exec="localization_handler" output="screen">
         <param name="use_sim_time" value="$(var sim)"/>
         <param name="odom_frame" value="$(var tf_prefix)odom"/>
         <param name="base_footprint_frame" value="$(var tf_prefix)base_footprint"/>
diff --git a/src/bitbots_navigation/bitbots_odometry/launch/odometry.launch b/src/bitbots_navigation/bitbots_odometry/launch/odometry.launch
index df13a2816..e0a1f06bd 100644
--- a/src/bitbots_navigation/bitbots_odometry/launch/odometry.launch
+++ b/src/bitbots_navigation/bitbots_odometry/launch/odometry.launch
@@ -2,10 +2,7 @@
     <arg name="sim" default="false"/>
     <let name="tf_prefix" value="$(eval '\'$(env ROS_NAMESPACE not_defined)\' if \'$(env ROS_NAMESPACE not_defined)\' != \'not_defined\' else \'\'')"/>
 
-    <let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 5"/>
-    <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
-
-    <node name="motion_odometry" pkg="bitbots_odometry" exec="motion_odometry" launch-prefix="$(var taskset)">
+    <node name="motion_odometry" pkg="bitbots_odometry" exec="motion_odometry">
         <param from="$(find-pkg-share bitbots_odometry)/config/odometry_config_$(env ROBOT_NAME default).yaml"/>
         <param name="base_link_frame" value="$(var tf_prefix)base_link"/>
         <param name="r_sole_frame" value="$(var tf_prefix)r_sole"/>
@@ -14,7 +11,7 @@
         <param name="use_sim_time" value="$(var sim)"/>
     </node>
 
-    <node name="odometry_fuser" pkg="bitbots_odometry" exec="odometry_fuser" launch-prefix="$(var taskset)">
+    <node name="odometry_fuser" pkg="bitbots_odometry" exec="odometry_fuser">
         <param name="base_link_frame" value="$(var tf_prefix)base_link"/>
         <param name="r_sole_frame" value="$(var tf_prefix)r_sole"/>
         <param name="l_sole_frame" value="$(var tf_prefix)l_sole"/>
diff --git a/src/bitbots_vision/launch/vision.launch b/src/bitbots_vision/launch/vision.launch
index 21ab8e42c..4b3bf8d48 100644
--- a/src/bitbots_vision/launch/vision.launch
+++ b/src/bitbots_vision/launch/vision.launch
@@ -4,11 +4,9 @@
     <arg name="sim" default="false" description="true: activates simulation time and switches to simulation color settings" />
     <arg name="debug" default="false" description="true: activates publishing of several debug images" />
 
-    <let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 6,7"/>
-    <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
 
     <group unless="$(var sim)">
-        <node pkg="bitbots_vision" exec="vision" name="bitbots_vision" output="screen" launch-prefix="$(var taskset)">
+        <node pkg="bitbots_vision" exec="vision" name="bitbots_vision" output="screen">
             <!-- Set vision config -->
             <param from="$(find-pkg-share bitbots_vision)/config/visionparams.yaml" />
 
@@ -18,7 +16,7 @@
     </group>
     <!-- Start the YOEO vision in sim configuration-->
     <group if="$(var sim)">
-        <node pkg="bitbots_vision" exec="vision" name="bitbots_vision" output="screen" launch-prefix="$(var taskset)">
+        <node pkg="bitbots_vision" exec="vision" name="bitbots_vision" output="screen">
             <!-- Set vision config -->
             <param from="$(find-pkg-share bitbots_vision)/config/visionparams_sim.yaml"/>