400% speed up to move group interface (#1865) (#1867)

(cherry picked from commit 0642ef0) Co-authored-by: azalutsky <[email protected]>
moveit · Jan 17, 2023 · a4f7af6 · a4f7af6
1 parent b882b0b
commit a4f7af6
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
@@ -793,7 +793,7 @@ 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)
@@ -871,7 +871,7 @@ 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)
@@ -937,7 +937,7 @@ 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)