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I'm not really familiar with this, but looking at the documentation for moveit_core::planning_scene, it has methods called getPlanningSceneMsg() and setPlanningSceneMsg(), so that seems promising.

Btw I found the API documentation just by googling "PlanningScene" -- it's the top hit

I'm not really familiar with this, but looking at the documentation for moveit_core::planning_scene, it has methods called getPlanningSceneMsg() and setPlanningSceneMsg(), so that seems promising.

Btw I found the API documentation just by googling "PlanningScene" -- it's the top hit

Edit: there's also the PlanningSceneInterface, presumably it makes this easier. It has a method applyPlanningScene (const moveit_msgs::PlanningScene &ps)