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Visual data not taken into account when planning with code

Hello, I am trying to set up the planning scene and generate plans through c++ code. I am also trying to incorporate data from a sensor. If I use rviz and listen to "/move_group/monitored_planning_scene" I can visualize the data and the planning works correctly (a collision free path is generated). If I try to do that with c++ code though, the generated path goes through the sensor data. My guess is that when the planning scene is set up it doesn't take into account the planning scene, it takes into account only the robot. Any help or a tutorial would be appreciated, thank you very much for your time.