diff --git a/feedingwebapp/src/Pages/Constants.js b/feedingwebapp/src/Pages/Constants.js
index 0ac1b99..36268dd 100644
--- a/feedingwebapp/src/Pages/Constants.js
+++ b/feedingwebapp/src/Pages/Constants.js
@@ -122,6 +122,8 @@ export const GET_PARAMETERS_SERVICE_NAME = 'ada_feeding_action_servers/get_param
 export const GET_PARAMETERS_SERVICE_TYPE = 'rcl_interfaces/srv/GetParameters'
 export const SET_PARAMETERS_SERVICE_NAME = 'ada_feeding_action_servers/set_parameters_atomically'
 export const SET_PARAMETERS_SERVICE_TYPE = 'rcl_interfaces/srv/SetParametersAtomically'
+export const PLANNING_SCENE_GET_PARAMETERS_SERVICE_NAME = 'ada_feeding_action_servers/get_parameters'
+export const PLANNING_SCENE_GET_PARAMETERS_SERVICE_TYPE = 'rcl_interfaces/srv/GetParameters'
 
 // The names of parameters users can change in the settings menu
 export const DISTANCE_TO_MOUTH_PARAM = 'MoveToMouth.tree_kwargs.plan_distance_from_mouth'
@@ -129,11 +131,12 @@ export const MOVE_TO_MOUTH_SPEED_PARAM = 'MoveToMouth.tree_kwargs.max_linear_spe
 export const MOVE_TO_MOUTH_SPEED_NEAR_MOUTH_PARAM = 'MoveToMouth.tree_kwargs.linear_speed_near_mouth'
 export const MOVE_FROM_MOUTH_SPEED_PARAM = 'MoveFromMouth.tree_kwargs.max_linear_speed_to_staging_configuration'
 export const MOVE_FROM_MOUTH_SPEED_NEAR_MOUTH_PARAM = 'MoveFromMouth.tree_kwargs.linear_speed_near_mouth'
+export const PLANNING_SCENE_PARAM = 'planning_scene_namespace_to_use'
 export const ABOVE_PLATE_PARAM_JOINTS = 'MoveAbovePlate.tree_kwargs.joint_positions'
 export const STAGING_PARAM_JOINTS = 'MoveToStagingConfiguration.tree_kwargs.goal_configuration'
 export const STAGING_PARAM_POSITION = 'MoveFromMouth.tree_kwargs.staging_configuration_position'
 export const STAGING_PARAM_ORIENTATION = 'MoveFromMouth.tree_kwargs.staging_configuration_quat_xyzw'
-// TODO: Eventually, we should break AcquireFood into two actionss to avoid these
+// TODO: Eventually, we should break AcquireFood into two actions to avoid these
 // two different resting parameters.
 export const RESTING_PARAM_JOINTS_1 = 'AcquireFood.tree_kwargs.resting_joint_positions'
 // TODO: We may need to remove the orientation constraint from the below action.
diff --git a/feedingwebapp/src/Pages/GlobalState.jsx b/feedingwebapp/src/Pages/GlobalState.jsx
index 5d6e211..c530b38 100644
--- a/feedingwebapp/src/Pages/GlobalState.jsx
+++ b/feedingwebapp/src/Pages/GlobalState.jsx
@@ -93,7 +93,8 @@ export const SETTINGS_STATE = {
   ABOVE_PLATE: 'ABOVE_PLATE',
   RESTING_CONFIGURATION: 'RESTING_CONFIGURATION',
   STAGING_CONFIGURATION: 'STAGING_CONFIGURATION',
-  STOW_CONFIGURATION: 'STOW_CONFIGURATION'
+  STOW_CONFIGURATION: 'STOW_CONFIGURATION',
+  PLANNING_SCENE: 'PLANNING_SCENE'
 }
 
 // The name of the default parameter namespace
diff --git a/feedingwebapp/src/Pages/Settings/Main.jsx b/feedingwebapp/src/Pages/Settings/Main.jsx
index 09c1022..1b91470 100644
--- a/feedingwebapp/src/Pages/Settings/Main.jsx
+++ b/feedingwebapp/src/Pages/Settings/Main.jsx
@@ -186,6 +186,11 @@ const Main = () => {
       title: 'Stow Position',
       icon: moveToStowConfigurationImage,
       onClick: () => onClickSettingsPage(SETTINGS_STATE.STOW_CONFIGURATION)
+    },
+    {
+      title: 'Planning Scene',
+      icon: null,
+      onClick: () => onClickSettingsPage(SETTINGS_STATE.PLANNING_SCENE)
     }
   ]
 
diff --git a/feedingwebapp/src/Pages/Settings/PlanningScene.jsx b/feedingwebapp/src/Pages/Settings/PlanningScene.jsx
new file mode 100644
index 0000000..069a90d
--- /dev/null
+++ b/feedingwebapp/src/Pages/Settings/PlanningScene.jsx
@@ -0,0 +1,125 @@
+// React imports
+import React, { useCallback, useEffect, useMemo, useRef, useState } from 'react'
+import { useMediaQuery } from 'react-responsive'
+import ButtonGroup from 'react-bootstrap/ButtonGroup'
+import Dropdown from 'react-bootstrap/Dropdown'
+import DropdownButton from 'react-bootstrap/DropdownButton'
+import { View } from 'react-native'
+
+// Local imports
+import { PLANNING_SCENE_PARAM, PLANNING_SCENE_GET_PARAMETERS_SERVICE_NAME, PLANNING_SCENE_GET_PARAMETERS_SERVICE_TYPE } from '../Constants'
+import { useGlobalState, SETTINGS_STATE } from '../GlobalState'
+import { useROS, createROSService, createROSServiceRequest, getValueFromParameter } from '../../ros/ros_helpers'
+import SettingsPageParent from './SettingsPageParent'
+
+/**
+ * The PlanningScene component allows users to change the planning scene that a particular
+ * settings namespace is configured with
+ */
+const PlanningScene = () => {
+  // Get relevant global state variables
+  const setSettingsState = useGlobalState((state) => state.setSettingsState)
+
+  // Flag to check if the current orientation is portrait
+  const isPortrait = useMediaQuery({ query: '(orientation: portrait)' })
+  // Indicator of how to arrange screen elements based on orientation
+  let dimension = isPortrait ? 'column' : 'row'
+  // Rendering variables
+  let textFontSize = '3.5vh'
+
+  // Configure the parameters for SettingsPageParent
+  const paramNames = useMemo(() => [PLANNING_SCENE_PARAM], [])
+  const [currentParams, setCurrentParams] = useState([null])
+
+  /**
+   * Connect to ROS, if not already connected. Put this in useRef to avoid
+   * re-connecting upon re-renders.
+   */
+  const ros = useRef(useROS().ros)
+
+  // Get the options for the planning scene
+  let getParametersService = useRef(
+    createROSService(ros.current, PLANNING_SCENE_GET_PARAMETERS_SERVICE_NAME, PLANNING_SCENE_GET_PARAMETERS_SERVICE_TYPE)
+  )
+  const [planningSceneNamespaces, setPlanningSceneNamespaces] = useState([])
+  useEffect(() => {
+    let service = getParametersService.current
+    let request = createROSServiceRequest({
+      names: ['namespaces']
+    })
+    service.callService(request, (response) => {
+      if (response.values.length > 0 && response.values[0].type === 9) {
+        setPlanningSceneNamespaces(getValueFromParameter(response.values[0]))
+      } else {
+        console.error('PlanningScene: Error getting planning scene namespaces')
+      }
+    })
+  }, [getParametersService, setPlanningSceneNamespaces])
+
+  // Render the settings for the planning scene
+  const renderPlanningSceneSettings = useCallback(() => {
+    if (currentParams.some((param) => param === null)) {
+      return (
+        <>
+          <View
+            style={{
+              flex: 1,
+              flexDirection: 'column',
+              justifyContent: 'center',
+              alignItems: 'center',
+              width: '100%'
+            }}
+          >
+            <h5 style={{ textAlign: 'center', fontSize: textFontSize }}>Loading...</h5>
+          </View>
+        </>
+      )
+    } else {
+      return (
+        <View
+          style={{
+            flex: 1,
+            flexDirection: dimension,
+            justifyContent: 'center',
+            alignItems: 'center',
+            width: '100%',
+            height: '100%'
+          }}
+        >
+          <DropdownButton
+            as={ButtonGroup}
+            key='planningSceneOptions'
+            id={`dropdown-button-drop-down`}
+            drop='down'
+            variant='secondary'
+            title={currentParams[0]}
+            size='lg'
+          >
+            {planningSceneNamespaces.map((namespace) => (
+              <Dropdown.Item key={namespace} onClick={() => setCurrentParams([namespace])} active={namespace === currentParams[0]}>
+                {namespace}
+              </Dropdown.Item>
+            ))}
+          </DropdownButton>
+        </View>
+      )
+    }
+  }, [currentParams, dimension, planningSceneNamespaces, setCurrentParams, textFontSize])
+
+  return (
+    <SettingsPageParent
+      title='Planning Scene &#9881;'
+      doneCallback={() => setSettingsState(SETTINGS_STATE.MAIN)}
+      modalShow={false}
+      modalOnHide={null}
+      modalChildren={null}
+      paramNames={paramNames}
+      localParamValues={currentParams}
+      setLocalParamValues={setCurrentParams}
+    >
+      {renderPlanningSceneSettings()}
+    </SettingsPageParent>
+  )
+}
+
+export default PlanningScene
diff --git a/feedingwebapp/src/Pages/Settings/Settings.jsx b/feedingwebapp/src/Pages/Settings/Settings.jsx
index b325b71..dcf30b1 100644
--- a/feedingwebapp/src/Pages/Settings/Settings.jsx
+++ b/feedingwebapp/src/Pages/Settings/Settings.jsx
@@ -22,6 +22,7 @@ import {
   STAGING_PARAM_POSITION,
   STOW_PARAM_JOINTS
 } from '../Constants'
+import PlanningScene from './PlanningScene'
 
 /**
  * The Settings components displays the appropriate settings page based on the
@@ -138,6 +139,8 @@ const Settings = (props) => {
             webrtcURL={props.webrtcURL}
           />
         )
+      case SETTINGS_STATE.PLANNING_SCENE:
+        return <PlanningScene />
       default:
         console.log('Invalid settings state', settingsState)
         return <Main />