diff --git a/src/impl/moveit_mediator.cpp b/src/impl/moveit_mediator.cpp
index 613251e5ef655fb62b644c7e5b35a368bb5afec3..042d791e5703ed2195a19dd80e6d17ad2e3e4a0d 100644
--- a/src/impl/moveit_mediator.cpp
+++ b/src/impl/moveit_mediator.cpp
@@ -907,9 +907,9 @@ void Moveit_mediator::task_planner(){
 		
 		for(auto& t : th){
 			if(t.joinable()) t.join();
-			merge_acm(ps_m);
-			planning_scene_diff_publisher_->publish(ps_m);
 		}
+		merge_acm(ps_m);
+		planning_scene_diff_publisher_->publish(ps_m);
 	}