[Moveitpy] new planning scene message (#2885)

moveit_py/src/moveit/moveit_ros/planning_scene_monitor/planning_scene_monitor.cpp

@@ -175,6 +175,15 @@ void initPlanningSceneMonitor(py::module& m)
                attached_collision_object_msg (moveit_msgs.msg.AttachedCollisionObject): The attached collision object to apply to the planning scene.
            )")
 
+      .def("new_planning_scene_message", &planning_scene_monitor::PlanningSceneMonitor::newPlanningSceneMessage,
+           py::arg("scene"),
+           R"(
+           Called to update the planning scene with a new message.
+
+	      Args:
+               scene (moveit_msgs.msg.PlanningScene): The new planning scene message.
+           )")
+
       .def("read_only", &moveit_py::bind_planning_scene_monitor::readOnly,
            R"(
            Returns a read-only context manager for the planning scene.