diff --git a/auv_smach/src/auv_smach/gate.py b/auv_smach/src/auv_smach/gate.py
index 4073021d..b707c2d3 100644
--- a/auv_smach/src/auv_smach/gate.py
+++ b/auv_smach/src/auv_smach/gate.py
@@ -68,15 +68,6 @@ def __init__(self, gate_depth: float):
                 NavigateToFrameState(
                     "taluy/base_link", "gate_enterance", "gate_target"
                 ),
-                transitions={
-                    "succeeded": "BARREL_ROLL",
-                    "preempted": "preempted",
-                    "aborted": "aborted",
-                },
-            )
-            smach.StateMachine.add(
-                "BARREL_ROLL",
-                DoBarrelRoll(),
                 transitions={
                     "succeeded": "NAVIGATE_TO_GATE_EXIT",
                     "preempted": "preempted",