From his father, from his grandfather, that the Prophet ﷺ was asked about hanging fruits (on the trees), so he said: "Whoever is in need and picks some of it without taking any in his garment, then there is no sin upon him."
أَنَّ النَّبِيَّ ﷺ سُئِلَ عَنِ الثَّمَرِ الْمُعَلَّقِ فَقَالَ مَنْ أَصَابَ مِنْهُ مِنْ ذِي حَاجَةٍ غَيْرَ مُتَّخِذٍ خُبْنَةً فَلاَ شَىْءَ عَلَيْهِ