Moveit import scene from text automatically
We can export and import Moveit scene objects to/from a text file (*.scene) using the RViz GUI (picture below). I would like to do the same automatically, so that the scene will be loaded on start. I am aware of the option of creating collision objects by code, however I want to have a more maintainable approach (data over code).
Is there a way to save/load Moveit planning scene objects to/from text, using C++ API or using an existing ros node/service?
System: Ubuntu 16.04, ROS-Kinetic