diff --git a/robot_state_publisher/src/robot_state_publisher_node.cpp b/robot_state_publisher/src/robot_state_publisher_node.cpp
index ccff5ed..ad51100 100644
--- a/robot_state_publisher/src/robot_state_publisher_node.cpp
+++ b/robot_state_publisher/src/robot_state_publisher_node.cpp
@@ -71,15 +71,10 @@ int main(int argc, char** argv)
 
   if (tree.getNrOfSegments() == 0){
     ROS_WARN("Robot state publisher got an empty tree and cannot publish any state to tf");
-    ros::spin();
-  }
-  else if (tree.getNrOfSegments() == 1){
-    ROS_WARN("Robot state publisher got a tree with only one segment and cannot publish any state to tf");
-    ros::spin();
   }
   else{
     JointStateListener state_publisher(tree);
-    ros::spin();
   }
+  ros::spin();
   return 0;
 }