diff --git a/moveit_ros/planning/moveit_cpp/src/moveit_cpp.cpp b/moveit_ros/planning/moveit_cpp/src/moveit_cpp.cpp
index e6ba420d70..609eddcaee 100644
--- a/moveit_ros/planning/moveit_cpp/src/moveit_cpp.cpp
+++ b/moveit_ros/planning/moveit_cpp/src/moveit_cpp.cpp
@@ -217,30 +217,14 @@ const std::map<std::string, planning_pipeline::PlanningPipelinePtr>& MoveItCpp::
 
 std::set<std::string> MoveItCpp::getPlanningPipelineNames(const std::string& group_name) const
 {
-  std::set<std::string> result_names;
-  if (!group_name.empty() && groups_pipelines_map_.count(group_name) == 0)
+  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 result_names;  // empty
+    return {};  // empty
   }
-  for (const auto& pipeline_entry : planning_pipelines_)
-  {
-    const std::string& pipeline_name = pipeline_entry.first;
-    // If group_name is defined and valid, skip pipelines that don't belong to the planning group
-    if (!group_name.empty())
-    {
-      const auto& group_pipelines = groups_pipelines_map_.at(group_name);
-      if (group_pipelines.find(pipeline_name) == group_pipelines.end())
-        continue;
-    }
-    result_names.insert(pipeline_name);
-  }
-  // No valid planning pipelines
-  if (result_names.empty())
-    RCLCPP_ERROR(LOGGER, "No planning pipelines loaded for group '%s'. Check planning pipeline and controller setup.",
-                 group_name.c_str());
-  return result_names;
+
+  return groups_pipelines_map_.at(group_name);
 }
 
 const planning_scene_monitor::PlanningSceneMonitorPtr& MoveItCpp::getPlanningSceneMonitor() const