diff --git a/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h b/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h
index cb87129c90..9b61d6c959 100644
--- a/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h
+++ b/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h
@@ -38,7 +38,6 @@
 #define MOVEIT_PLANNING_INTERFACE_PLANNING_SCENE_INTERFACE_
 
 #include <moveit/robot_state/robot_state.h>
-#include <moveit_msgs/ObjectColor.h>
 #include <moveit_msgs/CollisionObject.h>
 #include <moveit_msgs/AttachedCollisionObject.h>
 
@@ -84,10 +83,9 @@ class PlanningSceneInterface
 
   /** \brief Add collision objects to the world.
       Make sure object.operation is set to object.ADD. */
-  void addCollisionObjects(const std::vector<moveit_msgs::CollisionObject> &collision_objects,
-                           const std::vector<moveit_msgs::ObjectColor> &object_colors = std::vector<moveit_msgs::ObjectColor>()) const;
+  void addCollisionObjects(const std::vector<moveit_msgs::CollisionObject> &collision_objects) const;
 
-  /** \brief Remove collision objects from the world */
+  /** \brief Remove collision objects from the world. */
   void removeCollisionObjects(const std::vector<std::string> &object_ids) const;
 
   /**@}*/
diff --git a/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp b/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp
index ff1492463a..c857c7a5f5 100644
--- a/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp
+++ b/planning_interface/planning_scene_interface/src/planning_scene_interface.cpp
@@ -202,12 +202,10 @@ class PlanningSceneInterface::PlanningSceneInterfaceImpl
     return result;
   }
 
-  void addCollisionObjects(const std::vector<moveit_msgs::CollisionObject> &collision_objects,
-                           const std::vector<moveit_msgs::ObjectColor> &object_colors) const
+  void addCollisionObjects(const std::vector<moveit_msgs::CollisionObject> &collision_objects) const
   {
     moveit_msgs::PlanningScene planning_scene;
     planning_scene.world.collision_objects = collision_objects;
-    planning_scene.object_colors = object_colors;
     planning_scene.is_diff = true;
     planning_scene_diff_publisher_.publish(planning_scene);
   }
@@ -269,10 +267,9 @@ std::map<std::string, moveit_msgs::AttachedCollisionObject> PlanningSceneInterfa
   return impl_->getAttachedObjects(object_ids);
 }
 
-void PlanningSceneInterface::addCollisionObjects(const std::vector<moveit_msgs::CollisionObject> &collision_objects,
-                                                 const std::vector<moveit_msgs::ObjectColor> &object_colors) const
+void PlanningSceneInterface::addCollisionObjects(const std::vector<moveit_msgs::CollisionObject> &collision_objects) const
 {
-  return impl_->addCollisionObjects(collision_objects, object_colors);
+  return impl_->addCollisionObjects(collision_objects);
 }
 
 void PlanningSceneInterface::removeCollisionObjects(const std::vector<std::string> &object_ids) const