<NME> planning_scene.dox
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<MSG> more docs

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+/**
+
+\page planning_scene_overview Planning Scene
+
+The planning scene (planning_scene::PlanningScene) is the central class for motion planning in MoveIt!. A planning scene represents all the information needed to compute motion plans: The robot's current state, its representation (geometric, kinematic, dynamic) and the world representation. Using this information, things like forward kinematics, inverse kinematics, evaluation of constraints, collision checking, are all possible. 
+
+The planning_scene::PlanningScene class is tightly connected to the planning_scene_monitor::PlannningSceneMonitor class, which maintains a planning scene using information from the ROS Parameter Server and subscription to topics.
+
+*/

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