From 0642ef064df512566ffb171f5a889f4c7886110d Mon Sep 17 00:00:00 2001 From: azalutsky Date: Tue, 17 Jan 2023 07:13:33 -0800 Subject: [PATCH] 400% speed up to move group interface (#1865) --- .../move_group_interface/src/move_group_interface.cpp | 6 +++--- 1 file changed, 3 insertions(+), 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 index 871a3016ef..347ba2b72a 100644 --- 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)