diff --git a/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.hpp b/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.hpp
index 245c9c1354..b7dd976c4f 100644
--- a/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.hpp
+++ b/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.hpp
@@ -79,13 +79,21 @@ class MoveItCpp
       node->get_parameter_or(ns + ".name", name, std::string("planning_scene_monitor"));
       node->get_parameter_or(ns + ".robot_description", robot_description, std::string("robot_description"));
       node->get_parameter_or(ns + ".wait_for_initial_state_timeout", wait_for_initial_state_timeout, 0.0);
+      node->get_parameter_or(ns + ".joint_state_topic", joint_state_topic,
+                             planning_scene_monitor::PlanningSceneMonitor::DEFAULT_JOINT_STATES_TOPIC);
+      node->get_parameter_or(ns + ".attached_collision_object_topic", attached_collision_object_topic,
+                             planning_scene_monitor::PlanningSceneMonitor::DEFAULT_ATTACHED_COLLISION_OBJECT_TOPIC);
+      node->get_parameter_or(ns + ".monitored_planning_scene_topic", monitored_planning_scene_topic,
+                             planning_scene_monitor::PlanningSceneMonitor::MONITORED_PLANNING_SCENE_TOPIC);
+      node->get_parameter_or(ns + ".publish_planning_scene_topic", publish_planning_scene_topic,
+                             planning_scene_monitor::PlanningSceneMonitor::DEFAULT_PLANNING_SCENE_TOPIC);
     }
     std::string name;
     std::string robot_description;
-    const std::string joint_state_topic;
-    const std::string attached_collision_object_topic;
-    const std::string monitored_planning_scene_topic;
-    const std::string publish_planning_scene_topic;
+    std::string joint_state_topic;
+    std::string attached_collision_object_topic;
+    std::string monitored_planning_scene_topic;
+    std::string publish_planning_scene_topic;
     double wait_for_initial_state_timeout;
   };