diff --git a/moveit_ros/hybrid_planning/local_planner/local_constraint_solver_plugins/src/forward_trajectory.cpp b/moveit_ros/hybrid_planning/local_planner/local_constraint_solver_plugins/src/forward_trajectory.cpp
index e74015c0bc..fe774dc01f 100644
--- a/moveit_ros/hybrid_planning/local_planner/local_constraint_solver_plugins/src/forward_trajectory.cpp
+++ b/moveit_ros/hybrid_planning/local_planner/local_constraint_solver_plugins/src/forward_trajectory.cpp
@@ -60,10 +60,12 @@ bool ForwardTrajectory::initialize(const rclcpp::Node::SharedPtr& node,
   {
     stop_before_collision_ = node->declare_parameter<bool>("stop_before_collision", false);
   }
-  planning_scene_monitor_ = planning_scene_monitor;
   node_ = node;
   path_invalidation_event_send_ = false;
   num_iterations_stuck_ = 0;
+
+  planning_scene_monitor_ = planning_scene_monitor;
+
   return true;
 }
 
@@ -106,6 +108,7 @@ ForwardTrajectory::solve(const robot_trajectory::RobotTrajectory& local_trajecto
     bool is_path_valid = false;
     // Lock the planning scene as briefly as possible
     {
+      planning_scene_monitor_->updateSceneWithCurrentState();
       planning_scene_monitor::LockedPlanningSceneRO locked_planning_scene(planning_scene_monitor_);
       current_state = std::make_shared<moveit::core::RobotState>(locked_planning_scene->getCurrentState());
       is_path_valid = locked_planning_scene->isPathValid(local_trajectory, local_trajectory.getGroupName(), false);
diff --git a/moveit_ros/hybrid_planning/local_planner/local_planner_component/src/local_planner_component.cpp b/moveit_ros/hybrid_planning/local_planner/local_planner_component/src/local_planner_component.cpp
index 2c34cec5c4..0edc36e341 100644
--- a/moveit_ros/hybrid_planning/local_planner/local_planner_component/src/local_planner_component.cpp
+++ b/moveit_ros/hybrid_planning/local_planner/local_planner_component/src/local_planner_component.cpp
@@ -95,7 +95,9 @@ bool LocalPlannerComponent::initialize()
   // Start state and scene monitors
   planning_scene_monitor_->startSceneMonitor(config_.monitored_planning_scene_topic);
   planning_scene_monitor_->startWorldGeometryMonitor(config_.collision_object_topic);
-  planning_scene_monitor_->startStateMonitor(config_.joint_states_topic);
+  planning_scene_monitor_->startStateMonitor(config_.joint_states_topic, "/attached_collision_object");
+  planning_scene_monitor_->monitorDiffs(true);
+  planning_scene_monitor_->stopPublishingPlanningScene();
 
   // Load trajectory operator plugin
   try
@@ -264,8 +266,6 @@ void LocalPlannerComponent::executeIteration()
     // If the planner received an action request and a global solution it starts to plan locally
     case LocalPlannerState::LOCAL_PLANNING_ACTIVE:
     {
-      planning_scene_monitor_->updateSceneWithCurrentState();
-
       // Read current robot state
       const moveit::core::RobotState current_robot_state = [this] {
         planning_scene_monitor::LockedPlanningSceneRO ls(planning_scene_monitor_);