diff --git a/moveit_planners/pilz_industrial_motion_planner/package.xml b/moveit_planners/pilz_industrial_motion_planner/package.xml
index d4065026ae..81f00c8268 100644
--- a/moveit_planners/pilz_industrial_motion_planner/package.xml
+++ b/moveit_planners/pilz_industrial_motion_planner/package.xml
@@ -30,9 +30,6 @@
   <depend>moveit_core</depend>
   <depend>moveit_ros_planning</depend> <!-- RobotModelLoader -->
   <depend>moveit_ros_move_group</depend> <!-- move_group capability -->
-  <!-- TODO(henning): Remove?
-  <depend condition="$ROS_DISTRO != noetic">orocos_kdl</depend>
-  -->
   <depend>liborocos-kdl-dev</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
diff --git a/moveit_planners/pilz_industrial_motion_planner/src/command_list_manager.cpp b/moveit_planners/pilz_industrial_motion_planner/src/command_list_manager.cpp
index 8099652140..72022011c0 100644
--- a/moveit_planners/pilz_industrial_motion_planner/src/command_list_manager.cpp
+++ b/moveit_planners/pilz_industrial_motion_planner/src/command_list_manager.cpp
@@ -60,12 +60,10 @@ CommandListManager::CommandListManager(const rclcpp::Node::SharedPtr& node,
   // Obtain the aggregated joint limits
   pilz_industrial_motion_planner::JointLimitsContainer aggregated_limit_active_joints;
 
-  // TODO(henning): pass PARAM_NAMESPACE_LIMITS
   aggregated_limit_active_joints = pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(
       node_, PARAM_NAMESPACE_LIMITS, model_->getActiveJointModels());
 
   // Obtain cartesian limits
-  // TODO(henning): pass PARAM_NAMESPACE_LIMITS
   pilz_industrial_motion_planner::CartesianLimit cartesian_limit =
       pilz_industrial_motion_planner::CartesianLimitsAggregator::getAggregatedLimits(node_, PARAM_NAMESPACE_LIMITS);