diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
index 30b93ce190..e9bb41b4e2 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/src/planning_scene_render.cpp
@@ -109,6 +109,7 @@ void PlanningSceneRender::renderPlanningScene(const planning_scene::PlanningScen
       color.r = c.r;
       color.g = c.g;
       color.b = c.b;
+      color.a = c.a;
       alpha = c.a;
     }
     for (std::size_t j = 0; j < object->shapes_.size(); ++j)