diff --git a/doc/examples/motion_planning_api/src/motion_planning_api_tutorial.cpp b/doc/examples/motion_planning_api/src/motion_planning_api_tutorial.cpp
index 498056314a..9ba519d61d 100644
--- a/doc/examples/motion_planning_api/src/motion_planning_api_tutorial.cpp
+++ b/doc/examples/motion_planning_api/src/motion_planning_api_tutorial.cpp
@@ -56,10 +56,6 @@ int main(int argc, char** argv)
   std::shared_ptr<rclcpp::Node> motion_planning_api_tutorial_node =
       rclcpp::Node::make_shared("motion_planning_api_tutorial", node_options);
 
-  rclcpp::executors::SingleThreadedExecutor executor;
-  executor.add_node(motion_planning_api_tutorial_node);
-  std::thread([&executor]() { executor.spin(); }).detach();
-
   // BEGIN_TUTORIAL
   // Start
   // ^^^^^
@@ -80,6 +76,12 @@ int main(int argc, char** argv)
   moveit::core::RobotStatePtr robot_state(new moveit::core::RobotState(robot_model));
   const moveit::core::JointModelGroup* joint_model_group = robot_state->getJointModelGroup(PLANNING_GROUP);
 
+  // We spin up a SingleThreadedExecutor for the current state monitor to get information
+  // about the robot's state.
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(motion_planning_api_tutorial_node);
+  std::thread([&executor]() { executor.spin(); }).detach();
+
   // Using the
   // :moveit_codedir:`RobotModel<moveit_core/robot_model/include/moveit/robot_model/robot_model.h>`,
   // we can construct a
diff --git a/doc/examples/motion_planning_pipeline/src/motion_planning_pipeline_tutorial.cpp b/doc/examples/motion_planning_pipeline/src/motion_planning_pipeline_tutorial.cpp
index 0a5706f48a..e8501249bd 100644
--- a/doc/examples/motion_planning_pipeline/src/motion_planning_pipeline_tutorial.cpp
+++ b/doc/examples/motion_planning_pipeline/src/motion_planning_pipeline_tutorial.cpp
@@ -56,10 +56,6 @@ int main(int argc, char** argv)
   node_options.automatically_declare_parameters_from_overrides(true);
   auto node = rclcpp::Node::make_shared("motion_planning_pipeline_tutorial", node_options);
 
-  rclcpp::executors::SingleThreadedExecutor executor;
-  executor.add_node(node);
-  std::thread([&executor]() { executor.spin(); }).detach();
-
   // BEGIN_TUTORIAL
   // Start
   // ^^^^^
@@ -105,6 +101,12 @@ int main(int argc, char** argv)
      group is useful for dealing with one set of joints at a time such as a left arm or a end effector */
   const moveit::core::JointModelGroup* joint_model_group = robot_state->getJointModelGroup("panda_arm");
 
+  // We spin up a SingleThreadedExecutor for the current state monitor to get information
+  // about the robot's state.
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(node);
+  std::thread([&executor]() { executor.spin(); }).detach();
+
   // We can now setup the PlanningPipeline object, which will use the ROS parameter server
   // to determine the set of request adapters and the planning plugin to use
   planning_pipeline::PlanningPipelinePtr planning_pipeline(
diff --git a/doc/examples/move_group_interface/src/move_group_interface_tutorial.cpp b/doc/examples/move_group_interface/src/move_group_interface_tutorial.cpp
index f3bb4951e1..e8bf1ba1d7 100644
--- a/doc/examples/move_group_interface/src/move_group_interface_tutorial.cpp
+++ b/doc/examples/move_group_interface/src/move_group_interface_tutorial.cpp
@@ -57,12 +57,6 @@ int main(int argc, char** argv)
   node_options.automatically_declare_parameters_from_overrides(true);
   auto move_group_node = rclcpp::Node::make_shared("move_group_interface_tutorial", node_options);
 
-  // We spin up a SingleThreadedExecutor for the current state monitor to get information
-  // about the robot's state.
-  rclcpp::executors::SingleThreadedExecutor executor;
-  executor.add_node(move_group_node);
-  std::thread([&executor]() { executor.spin(); }).detach();
-
   // BEGIN_TUTORIAL
   //
   // Setup
@@ -78,6 +72,12 @@ int main(int argc, char** argv)
   // class can be easily set up using just the name of the planning group you would like to control and plan for.
   moveit::planning_interface::MoveGroupInterface move_group(move_group_node, PLANNING_GROUP);
 
+  // We spin up a SingleThreadedExecutor for the current state monitor to get information
+  // about the robot's state.
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(move_group_node);
+  std::thread([&executor]() { executor.spin(); }).detach();
+
   // We will use the
   // :moveit_codedir:`PlanningSceneInterface<moveit_ros/planning_interface/planning_scene_interface/include/moveit/planning_scene_interface/planning_scene_interface.h>`
   // class to add and remove collision objects in our "virtual world" scene