diff --git a/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py b/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
index f27dc6e..85865b7 100644
--- a/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
+++ b/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
@@ -459,10 +459,15 @@ 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)
 
         self.platform_components = {
+            Platform.GENERIC: [],
             Platform.J100: common_platform_components + [
                 self.imu_0_filter_node,
                 self.imu_0_filter_config,