Update Moveit! PlanningScene with Octomap file

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Hi, I need help with the Moveit! framework. I have a .bt file that contains an octomap of the environment and I can successfully load it with the octomap_server node and display it in rviz. Furthermore I can also run the moveit! demo for planning with a pr2 robot. I would like to update the planning scene of Moveit! with the loaded Octomap to plan in the updated environment taking into account collisions related to the Occupancy grid given by the Octomap. Do you have any suggestions to achieve that or even better a sample code (or python script) that can do that?

Thanks for help!