diff --git a/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h b/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
index 03cdd36038a..c82a25468db 100644
--- a/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
+++ b/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
@@ -152,10 +152,6 @@ class MoveItCpp
   /** \brief Get all loaded planning pipeline instances mapped to their reference names */
   const std::map<std::string, planning_pipeline::PlanningPipelinePtr>& getPlanningPipelines() const;
 
-  /** \brief Get the names of all loaded planning pipelines. Specify group_name to filter the results by planning group
-   */
-  std::set<std::string> getPlanningPipelineNames(const std::string& group_name = "") const;
-
   /** \brief Get the stored instance of the planning scene monitor */
   const planning_scene_monitor::PlanningSceneMonitorPtr& getPlanningSceneMonitor() const;
   planning_scene_monitor::PlanningSceneMonitorPtr getPlanningSceneMonitorNonConst();
diff --git a/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/planning_component.h b/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
index 79ce7ed721d..c5c92aaf40e 100644
--- a/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
+++ b/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
@@ -216,7 +216,6 @@ class PlanningComponent
   const moveit::core::JointModelGroup* joint_model_group_;
 
   // Planning
-  std::set<std::string> planning_pipeline_names_;
   // The start state used in the planning motion request
   moveit::core::RobotStatePtr considered_start_state_;
   std::vector<moveit_msgs::msg::Constraints> current_goal_constraints_;
diff --git a/moveit_ros/planning/moveit_cpp/src/moveit_cpp.cpp b/moveit_ros/planning/moveit_cpp/src/moveit_cpp.cpp
index 7599d0c49fb..d717c8e6415 100644
--- a/moveit_ros/planning/moveit_cpp/src/moveit_cpp.cpp
+++ b/moveit_ros/planning/moveit_cpp/src/moveit_cpp.cpp
@@ -213,18 +213,6 @@ const std::map<std::string, planning_pipeline::PlanningPipelinePtr>& MoveItCpp::
   return planning_pipelines_;
 }
 
-std::set<std::string> MoveItCpp::getPlanningPipelineNames(const std::string& group_name) const
-{
-  if (group_name.empty() || groups_pipelines_map_.count(group_name) == 0)
-  {
-    RCLCPP_ERROR(LOGGER, "No planning pipelines loaded for group '%s'. Check planning pipeline and controller setup.",
-                 group_name.c_str());
-    return {};  // empty
-  }
-
-  return groups_pipelines_map_.at(group_name);
-}
-
 const planning_scene_monitor::PlanningSceneMonitorPtr& MoveItCpp::getPlanningSceneMonitor() const
 {
   return planning_scene_monitor_;
diff --git a/moveit_ros/planning/moveit_cpp/src/planning_component.cpp b/moveit_ros/planning/moveit_cpp/src/planning_component.cpp
index 1691fe69b36..ac03093280b 100644
--- a/moveit_ros/planning/moveit_cpp/src/planning_component.cpp
+++ b/moveit_ros/planning/moveit_cpp/src/planning_component.cpp
@@ -57,7 +57,6 @@ PlanningComponent::PlanningComponent(const std::string& group_name, const MoveIt
     RCLCPP_FATAL_STREAM(LOGGER, error);
     throw std::runtime_error(error);
   }
-  planning_pipeline_names_ = moveit_cpp_->getPlanningPipelineNames(group_name);
   plan_request_parameters_.load(node_);
   RCLCPP_DEBUG_STREAM(
       LOGGER, "Default plan request parameters loaded with --"
@@ -79,7 +78,6 @@ PlanningComponent::PlanningComponent(const std::string& group_name, const rclcpp
     RCLCPP_FATAL_STREAM(LOGGER, error);
     throw std::runtime_error(error);
   }
-  planning_pipeline_names_ = moveit_cpp_->getPlanningPipelineNames(group_name);
 }
 
 const std::vector<std::string> PlanningComponent::getNamedTargetStates()
@@ -178,7 +176,9 @@ planning_interface::MotionPlanResponse PlanningComponent::plan(const PlanRequest
 
   // Run planning attempt
   ::planning_interface::MotionPlanResponse res;
-  if (planning_pipeline_names_.find(parameters.planning_pipeline) == planning_pipeline_names_.end())
+  const auto& pipelines = moveit_cpp_->getPlanningPipelines();
+  auto it = pipelines pipelines.find(parameters.planning_pipeline);
+  if (it == pipelines.end())
   {
     RCLCPP_ERROR(LOGGER, "No planning pipeline available for name '%s'", parameters.planning_pipeline.c_str());
     plan_solution.error_code_ = moveit::core::MoveItErrorCode::FAILURE;
@@ -188,8 +188,7 @@ planning_interface::MotionPlanResponse PlanningComponent::plan(const PlanRequest
     }
     return plan_solution;
   }
-  const planning_pipeline::PlanningPipelinePtr pipeline =
-      moveit_cpp_->getPlanningPipelines().at(parameters.planning_pipeline);
+  const planning_pipeline::PlanningPipelinePtr pipeline = *it;
   pipeline->generatePlan(planning_scene, req, res);
 
   plan_solution.error_code_ = res.error_code_;