diff --git a/pid_controller/test/test_pid_controller_preceding.cpp b/pid_controller/test/test_pid_controller_preceding.cpp
deleted file mode 100644
index 3e17e69286..0000000000
--- a/pid_controller/test/test_pid_controller_preceding.cpp
+++ /dev/null
@@ -1,104 +0,0 @@
-// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt)
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-//
-// Authors: Daniel Azanov, Dr. Denis
-//
-
-#include "test_pid_controller.hpp"
-
-#include <limits>
-#include <memory>
-#include <string>
-#include <utility>
-#include <vector>
-
-using pid_controller::feedforward_mode_type;
-
-class PidControllerTest : public PidControllerFixture<TestablePidController>
-{
-};
-
-TEST_F(PidControllerTest, all_parameters_set_configure_success)
-{
-  SetUpController();
-
-  ASSERT_TRUE(controller_->params_.dof_names.empty());
-  ASSERT_TRUE(controller_->params_.reference_and_state_dof_names.empty());
-  ASSERT_TRUE(controller_->params_.command_interface.empty());
-
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
-
-  ASSERT_THAT(controller_->params_.dof_names, testing::ElementsAreArray(dof_names_));
-  ASSERT_THAT(
-    controller_->params_.reference_and_state_dof_names,
-    testing::ElementsAreArray(reference_and_state_dof_names_));
-  ASSERT_THAT(
-    controller_->reference_and_state_dof_names_,
-    testing::ElementsAreArray(reference_and_state_dof_names_));
-  ASSERT_EQ(controller_->params_.command_interface, command_interface_);
-}
-
-TEST_F(PidControllerTest, check_exported_interfaces)
-{
-  SetUpController();
-
-  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
-
-  auto cmd_if_conf = controller_->command_interface_configuration();
-  ASSERT_EQ(cmd_if_conf.names.size(), dof_command_values_.size());
-  for (size_t i = 0; i < cmd_if_conf.names.size(); ++i)
-  {
-    EXPECT_EQ(cmd_if_conf.names[i], dof_names_[i] + "/" + command_interface_);
-  }
-  EXPECT_EQ(cmd_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
-
-  auto state_if_conf = controller_->state_interface_configuration();
-  ASSERT_EQ(state_if_conf.names.size(), dof_state_values_.size());
-  size_t si_index = 0;
-  for (const auto & interface : state_interfaces_)
-  {
-    for (const auto & dof_name : reference_and_state_dof_names_)
-    {
-      EXPECT_EQ(state_if_conf.names[si_index], dof_name + "/" + interface);
-      ++si_index;
-    }
-  }
-  EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
-
-  // check ref itfs
-  auto ref_if_conf = controller_->export_reference_interfaces();
-  ASSERT_EQ(ref_if_conf.size(), dof_state_values_.size());
-  size_t ri_index = 0;
-  for (const auto & interface : state_interfaces_)
-  {
-    for (const auto & dof_name : reference_and_state_dof_names_)
-    {
-      const std::string ref_itf_name =
-        std::string(controller_->get_node()->get_name()) + "/" + dof_name + "/" + interface;
-      EXPECT_EQ(ref_if_conf[ri_index].get_name(), ref_itf_name);
-      EXPECT_EQ(ref_if_conf[ri_index].get_prefix_name(), controller_->get_node()->get_name());
-      EXPECT_EQ(ref_if_conf[ri_index].get_interface_name(), dof_name + "/" + interface);
-      ++ri_index;
-    }
-  }
-}
-
-int main(int argc, char ** argv)
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  rclcpp::init(argc, argv);
-  int result = RUN_ALL_TESTS();
-  rclcpp::shutdown();
-  return result;
-}