Removing AttachedCollisionObject is slow

moveit / moveit2

:robot: MoveIt for ROS 2

https://moveit.ai/

BSD 3-Clause "New" or "Revised" License

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Removing AttachedCollisionObject is slow #2813

Open alek5k opened 5 months ago

alek5k commented 5 months ago

Description

Detaching objects into the world through move_group is really slow. I try removing a ~2MB .stl file, and it takes 1 second to detach the object. When I use a lower fidelity .stl file, it takes in the order of milliseconds.

Your environment

ROS Distro: Humble
OS Version: Ubuntu 22.04
Which RMW (Fast DDS or Cyclone DDS)? Cyclone

github-actions[bot] commented 2 months ago

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.