diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
index 0fe67973e8..217b3140f1 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -1006,7 +1006,6 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
       std_msgs::msg::String event;
       event.data = "stop";
       trajectory_event_publisher_->publish(event);
-      rclcpp::spin_some(pnode_);
     }
   }
 
@@ -1033,7 +1032,6 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
       aco.touch_links = touch_links;
     aco.object.operation = moveit_msgs::msg::CollisionObject::ADD;
     attached_object_publisher_->publish(aco);
-    rclcpp::spin_some(pnode_);
     return true;
   }
 
@@ -1054,13 +1052,11 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
       {
         aco.link_name = lname;
         attached_object_publisher_->publish(aco);
-        rclcpp::spin_some(pnode_);
       }
     }
     else
     {
       attached_object_publisher_->publish(aco);
-      rclcpp::spin_some(pnode_);
     }
     return true;
   }