400% speed up to move group interface (#1865)

moveit · Jan 17, 2023 · 0642ef0 · 0642ef0
1 parent 6711436
commit 0642ef0
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -817,7 +817,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     // wait until send_goal_opts.result_callback is called
     while (!done)
     {
-      std::this_thread::sleep_for(std::chrono::milliseconds(100));
+      std::this_thread::sleep_for(std::chrono::milliseconds(1));
     }
 
     if (code != rclcpp_action::ResultCode::SUCCEEDED)
@@ -895,7 +895,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     // wait until send_goal_opts.result_callback is called
     while (!done)
     {
-      std::this_thread::sleep_for(std::chrono::milliseconds(100));
+      std::this_thread::sleep_for(std::chrono::milliseconds(1));
     }
 
     if (code != rclcpp_action::ResultCode::SUCCEEDED)
@@ -961,7 +961,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     // wait until send_goal_opts.result_callback is called
     while (!done)
     {
-      std::this_thread::sleep_for(std::chrono::milliseconds(100));
+      std::this_thread::sleep_for(std::chrono::milliseconds(1));
     }
 
     if (code != rclcpp_action::ResultCode::SUCCEEDED)