diff --git a/src/moveit_task_constructor b/src/moveit_task_constructor
new file mode 160000
index 0000000000000000000000000000000000000000..211b8c7d3a013d2f3ea818d336cb4094d0135f3a
--- /dev/null
+++ b/src/moveit_task_constructor
@@ -0,0 +1 @@
+Subproject commit 211b8c7d3a013d2f3ea818d336cb4094d0135f3a
diff --git a/src/mtc/src/impl/moveit_mediator.cpp b/src/mtc/src/impl/moveit_mediator.cpp
index 6fd6804363daea95a32ee43c2099565c8fea48b2..f5effccc3e96ca14165a1b368ae083202fa13cdf 100644
--- a/src/mtc/src/impl/moveit_mediator.cpp
+++ b/src/mtc/src/impl/moveit_mediator.cpp
@@ -304,7 +304,7 @@ void Moveit_mediator::merge_stages(std::vector<std::queue<moveit_task_constructo
 	
 void Moveit_mediator::parallel_exec(Moveit_robot& mr, moveit_msgs::RobotTrajectory rt, moveit_msgs::PlanningScene ps){
 	mr.mgi()->execute(rt);
-	planning_scene_diff_publisher_.publish(ps);
+	// planning_scene_diff_publisher_.publish(ps);
 
 }