diff --git a/src/systems/mecanum_drive/MecanumDrive.cc b/src/systems/mecanum_drive/MecanumDrive.cc
index d1e5c4637c..59dd701675 100644
--- a/src/systems/mecanum_drive/MecanumDrive.cc
+++ b/src/systems/mecanum_drive/MecanumDrive.cc
@@ -64,13 +64,6 @@ class ignition::gazebo::systems::MecanumDrivePrivate
   /// \param[in] _msg Velocity message
   public: void OnCmdVel(const ignition::msgs::Twist &_msg);
 
-  /// \brief Update odometry and publish an odometry message.
-  /// \param[in] _info System update information.
-  /// \param[in] _ecm The EntityComponentManager of the given simulation
-  /// instance.
-  public: void UpdateOdometry(const ignition::gazebo::UpdateInfo &_info,
-    const ignition::gazebo::EntityComponentManager &_ecm);
-
   /// \brief Update the linear and angular velocities.
   /// \param[in] _info System update information.
   /// \param[in] _ecm The EntityComponentManager of the given simulation
@@ -496,40 +489,6 @@ void MecanumDrive::PreUpdate(const ignition::gazebo::UpdateInfo &_info,
       *vel = components::JointVelocityCmd({this->dataPtr->backRightJointSpeed});
     }
   }
-
-  // Create the left and right side joint position components if they
-  // don't exist.
-  auto frontLeftPos = _ecm.Component<components::JointPosition>(
-      this->dataPtr->frontLeftJoints[0]);
-  if (!frontLeftPos)
-  {
-    _ecm.CreateComponent(this->dataPtr->frontLeftJoints[0],
-        components::JointPosition());
-  }
-
-  auto frontRightPos = _ecm.Component<components::JointPosition>(
-      this->dataPtr->frontRightJoints[0]);
-  if (!frontRightPos)
-  {
-    _ecm.CreateComponent(this->dataPtr->frontRightJoints[0],
-        components::JointPosition());
-  }
-
-  auto backLeftPos = _ecm.Component<components::JointPosition>(
-      this->dataPtr->backLeftJoints[0]);
-  if (!backLeftPos)
-  {
-    _ecm.CreateComponent(this->dataPtr->backLeftJoints[0],
-        components::JointPosition());
-  }
-
-  auto backRightPos = _ecm.Component<components::JointPosition>(
-      this->dataPtr->backRightJoints[0]);
-  if (!backRightPos)
-  {
-    _ecm.CreateComponent(this->dataPtr->backRightJoints[0],
-        components::JointPosition());
-  }
 }
 
 //////////////////////////////////////////////////
@@ -542,115 +501,6 @@ void MecanumDrive::PostUpdate(const UpdateInfo &_info,
     return;
 
   this->dataPtr->UpdateVelocity(_info, _ecm);
-  this->dataPtr->UpdateOdometry(_info, _ecm);
-}
-
-//////////////////////////////////////////////////
-void MecanumDrivePrivate::UpdateOdometry(
-    const ignition::gazebo::UpdateInfo &_info,
-    const ignition::gazebo::EntityComponentManager &_ecm)
-{
-  IGN_PROFILE("MecanumDrive::UpdateOdometry");
-  // Initialize, if not already initialized.
-  if (!this->odom.Initialized())
-  {
-    this->odom.Init(std::chrono::steady_clock::time_point(_info.simTime));
-    return;
-  }
-
-  if (this->frontLeftJoints.empty()  || this->backLeftJoints.empty() ||
-      this->frontRightJoints.empty() || this->backRightJoints.empty())
-  {
-    return;
-  }
-
-  // Get the first joint positions.
-  auto frontLeftPos = _ecm.Component<components::JointPosition>(
-      this->frontLeftJoints[0]);
-  auto frontRightPos = _ecm.Component<components::JointPosition>(
-      this->frontRightJoints[0]);
-  auto backLeftPos = _ecm.Component<components::JointPosition>(
-      this->backLeftJoints[0]);
-  auto backRightPos = _ecm.Component<components::JointPosition>(
-      this->backRightJoints[0]);
-
-  // Abort if the joints were not found or just created.
-  if (!frontLeftPos || !frontRightPos || !backLeftPos || !backRightPos ||
-      frontLeftPos->Data().empty() || frontRightPos->Data().empty() ||
-      backLeftPos->Data().empty() || backRightPos->Data().empty())
-  {
-    return;
-  }
-
-  //  this->odom.Update(leftPos->Data()[0], rightPos->Data()[0],
-  //      std::chrono::steady_clock::time_point(_info.simTime));
-
-  //  // Throttle publishing
-  //  auto diff = _info.simTime - this->lastOdomPubTime;
-  //  if (diff > std::chrono::steady_clock::duration::zero() &&
-  //      diff < this->odomPubPeriod)
-  //  {
-  //    return;
-  //  }
-  //  this->lastOdomPubTime = _info.simTime;
-
-  //  // Construct the odometry message and publish it.
-  //  msgs::Odometry msg;
-  //  msg.mutable_pose()->mutable_position()->set_x(this->odom.X());
-  //  msg.mutable_pose()->mutable_position()->set_y(this->odom.Y());
-
-  //  math::Quaterniond orientation(0, 0, *this->odom.Heading());
-  //  msgs::Set(msg.mutable_pose()->mutable_orientation(), orientation);
-
-  //  msg.mutable_twist()->mutable_linear()->set_x(this->odom.LinearVelocity());
-  //  msg.mutable_twist()->mutable_angular()->set_z(
-  //      *this->odom.AngularVelocity());
-
-  //  // Set the time stamp in the header
-  //  msg.mutable_header()->mutable_stamp()->CopyFrom(
-  //      convert<msgs::Time>(_info.simTime));
-
-  //  // Set the frame id.
-  //  auto frame = msg.mutable_header()->add_data();
-  //  frame->set_key("frame_id");
-  //  if (this->sdfFrameId.empty())
-  //  {
-  //    frame->add_value(this->model.Name(_ecm) + "/odom");
-  //  }
-  //  else
-  //  {
-  //    frame->add_value(this->sdfFrameId);
-  //  }
-
-  //  std::optional<std::string> linkName = this->canonicalLink.Name(_ecm);
-  //  if (this->sdfChildFrameId.empty())
-  //  {
-  //    if (linkName)
-  //    {
-  //      auto childFrame = msg.mutable_header()->add_data();
-  //      childFrame->set_key("child_frame_id");
-  //      childFrame->add_value(this->model.Name(_ecm) + "/" + *linkName);
-  //    }
-  //  }
-  //  else
-  //  {
-  //    auto childFrame = msg.mutable_header()->add_data();
-  //    childFrame->set_key("child_frame_id");
-  //    childFrame->add_value(this->sdfChildFrameId);
-  //  }
-
-  //  // Construct the Pose_V/tf message and publish it.
-  //  msgs::Pose_V tfMsg;
-  //  ignition::msgs::Pose *tfMsgPose = nullptr;
-  //  tfMsgPose = tfMsg.add_pose();
-  //  tfMsgPose->mutable_header()->CopyFrom(*msg.mutable_header());
-  //  tfMsgPose->mutable_position()->CopyFrom(msg.mutable_pose()->position());
-  //  tfMsgPose->mutable_orientation()->CopyFrom(
-  //      msg.mutable_pose()->orientation());
-
-  //  // Publish the messages
-  //  this->odomPub.Publish(msg);
-  //  this->tfPub.Publish(tfMsg);
 }
 
 //////////////////////////////////////////////////