launching move_group can take very long if collision geometry is very…

moveit / moveit_ros

THIS REPO HAS MOVED TO https://github.com/ros-planning/moveit

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launching move_group can take very long if collision geometry is very… #738

Closed anderwm closed 7 years ago

anderwm commented 7 years ago

… complicated, this commit adds a warning for that case. If the excludeRobotLinksFromOctree() is takes longer than 30 seconds this prints a one time warning.

v4hn commented 7 years ago

I would also like to have this feature in indigo too. @anderwm would you mind to create this request targeting indigo-devel too?

anderwm commented 7 years ago

Plus if it takes longer than 30 seconds you get virtually no time penalty since the warned flag will resolve that if statement immediately.

v4hn commented 7 years ago

Oh, one more thing, please use ros::WallTime. Otherwise the logic will break in simulation.

davetcoleman commented 7 years ago

It looks like the "exclusion" of shapes is what takes very long, not the initial loading.

Ok then this looks good, +1