diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
index 4d4d2399bb3ee5059d9788fb60f61cf23f78c2b0..a17005e6d573ff98accd7b40e9c45376ed8e85c4 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
@@ -38,8 +38,6 @@
 #include <ArmarXCore/core/system/ArmarXDataPath.h>
 #include <ArmarXCore/core/time/TimeUtil.h>
 
-#include <RobotAPI/interface/units/PlatformUnitInterface.h>
-
 
 using namespace Eigen;
 using namespace Ice;
@@ -72,7 +70,6 @@ namespace armarx
         defineOptionalProperty<int>("HistoryLength", 10000, "Number of entries in the robot state history").setMin(0);
         defineOptionalProperty<float>("RobotModelScaling", 1.0f, "Scaling of the robot model");
         defineOptionalProperty<std::string>("TopicPrefix", "", "Prefix for the sensor value topic name.");
-        defineOptionalProperty<std::string>("PlatformTopicName", "PlatformState", "Topic where platform state is published.");
         defineOptionalProperty<std::string>("GlobalRobotPoseLocalizationTopicName", "GlobalRobotPoseLocalization", "Topic where the global robot pose can be reported.");
     }
 
@@ -149,7 +146,6 @@ namespace armarx
         usingTopic(topicPrefix + robotNodeSetName + "State");
 
         usingTopic(topicPrefix + getProperty<std::string>("GlobalRobotPoseLocalizationTopicName").getValue());
-        usingTopic(topicPrefix + getProperty<std::string>("PlatformTopicName").getValue());
 
         try
         {
@@ -692,39 +688,4 @@ namespace armarx
         return Timestamped<FramedPosePtr> {time, new FramedPose(globalPose, armarx::GlobalFrame, "")};
     }
 
-
-    // legacy
-    void RobotStateComponent::reportPlatformPose(const PlatformPose& currentPose, const Current&)
-    {
-        const float z = 0;
-        const Eigen::Vector3f position(currentPose.x, currentPose.y, z);
-        const Eigen::Matrix3f orientation =
-            Eigen::AngleAxisf(currentPose.rotationAroundZ, Eigen::Vector3f::UnitZ()).toRotationMatrix();
-        const Eigen::Matrix4f globalPose = math::Helpers::Pose(position, orientation);
-
-        IceUtil::Time time = IceUtil::Time::microSeconds(currentPose.timestampInMicroSeconds);
-        // ARMARX_IMPORTANT << VAROUT(currentPose.timestampInMicroSeconds);
-
-        TransformStamped stamped;
-        stamped.header.frame = armarx::GlobalFrame;
-        stamped.header.agent = _synchronized->getName();
-        stamped.header.timestampInMicroSeconds = time.toMicroSeconds();
-        stamped.header.parentFrame = "";
-        stamped.transform = globalPose;
-
-        this->reportGlobalRobotPose(stamped);
-
-        /*
-         * old:
-        insertPose(time, globalPose);
-
-        if (_sharedRobotServant)
-        {
-            _sharedRobotServant->setTimestamp(time);
-        }
-        */
-    }
-
-
-
 }
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.h b/source/RobotAPI/components/RobotState/RobotStateComponent.h
index 6a3b527630a594e5a12ed53a03690fa1a48cde0e..d786dd0d67efc4b5e8fe07e02bef4f4b370588da 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.h
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.h
@@ -128,20 +128,6 @@ namespace armarx
         void setRobotStateObserver(RobotStateObserverPtr observer);
 
 
-
-        // PlatformUnitListener interface
-        // TODO: Remove this interface and use GlobalRobotPoseLocalizationListener only.
-        /// Stores the platform pose in the pose history.
-        void reportPlatformPose(const PlatformPose& currentPose, const Ice::Current& = Ice::emptyCurrent) override;
-        /// Does nothing.
-        void reportNewTargetPose(Ice::Float newPlatformPositionX, Ice::Float newPlatformPositionY, Ice::Float newPlatformRotation, const Ice::Current& = Ice::emptyCurrent) override {}
-        /// Does nothing.
-        void reportPlatformVelocity(Ice::Float currentPlatformVelocityX, Ice::Float currentPlatformVelocityY, Ice::Float currentPlatformVelocityRotation, const Ice::Current& = Ice::emptyCurrent) override {}
-        /// Does nothing.
-        void reportPlatformOdometryPose(Ice::Float x, Ice::Float y, Ice::Float angle, const Ice::Current& = Ice::emptyCurrent) override {}
-
-
-
     protected:
 
         // Component interface.
@@ -239,4 +225,3 @@ namespace armarx
     };
 
 }
-