diff --git a/snp_motion_planning/src/planning_server.cpp b/snp_motion_planning/src/planning_server.cpp
index 5553baee..ccfa92e8 100644
--- a/snp_motion_planning/src/planning_server.cpp
+++ b/snp_motion_planning/src/planning_server.cpp
@@ -571,7 +571,8 @@ class PlanningServer
       tesseract_planning::CompositeInstruction program = createProgram(manip_info, fromMsg(req->tool_paths));
 
       // Add the scan link to the planning environment
-      addScanLink(req->mesh_filename, req->mesh_frame);
+      if (!req->mesh_filename.empty())
+        addScanLink(req->mesh_filename, req->mesh_frame);
 
       // Invoke the planner
       auto pd = createProfileDictionary();
@@ -649,7 +650,8 @@ class PlanningServer
                                               tesseract_planning::MoveInstructionType::FREESPACE, PROFILE, manip_info));
 
       // Add the scan link to the planning environment
-      addScanLink(req->mesh_filename, req->mesh_frame);
+      if (!req->mesh_filename.empty())
+        addScanLink(req->mesh_filename, req->mesh_frame);
 
       // Invoke the planner
       auto pd = createProfileDictionary();
diff --git a/snp_msgs/srv/GenerateFreespaceMotionPlan.srv b/snp_msgs/srv/GenerateFreespaceMotionPlan.srv
index 65283262..8adc5a7d 100644
--- a/snp_msgs/srv/GenerateFreespaceMotionPlan.srv
+++ b/snp_msgs/srv/GenerateFreespaceMotionPlan.srv
@@ -9,7 +9,7 @@ sensor_msgs/JointState js2
 
 # Mesh - this is the scanned mesh which toolpaths were generated on.  Any path generated should be
 # checked for collision against this mesh to ensure we don't hit it by mistake.
-string mesh_filename
+string mesh_filename # Optional - If left empty then no mesh will be added
 string mesh_frame
 
 ---
diff --git a/snp_msgs/srv/GenerateMotionPlan.srv b/snp_msgs/srv/GenerateMotionPlan.srv
index 6b0d9620..038af07d 100644
--- a/snp_msgs/srv/GenerateMotionPlan.srv
+++ b/snp_msgs/srv/GenerateMotionPlan.srv
@@ -12,7 +12,7 @@ string tcp_frame
 
 # Mesh - this is the scanned mesh which toolpaths were generated on.  Any path generated should be
 # checked for collision against this mesh to ensure we don't hit it by mistake.
-string mesh_filename
+string mesh_filename # Optional - If left empty then no mesh will be added
 string mesh_frame
 
 ---