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Hi there,
I can't say I have a plain answer to your problem because it depends on your specific node setup.
Your second edit is right in that the PlanningSceneInterface.apply* functions only affect the move_group node.
This is because the functions use the ros service provided by the move_group node.
If you instantiate your own PlanningSceneMonitor in a different node, you have to connect it to move_group/monitored_planning_scene to receive the updates. But these are throttled (2 Hz by default I think) and of course updates there are asynchronous.
Historically the only way to update the scene was asynchronously via the add* functions (published messages). There all nodes/monitors got the updates.... or not because messages where dropped/not connected/...
The proper way to go for you might be to get a fresh planning scene from the move_group node right when you need it.
You can use the GetPlanningScene service for that, or better, you utilize the PlanningSceneInterface and just add a method that exposes the full possibilities of the service there.
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