When I use the makeplan service from movebase it seems to be unexpectedly slow.

I query about 100 plans in a row using a persistent service connection. It takes roughly 2 seconds per query.

The map I am using is 4000x4000 cells, but only 10% of that is not unknown. All queries are near to each other in a simple environment.

For the nav setup I'm using electric and this launch file:

  < include file="$(find pr22dnav)/pr22dnav.launch" />

By experience I would say that the computation should only take about 100ms maximum. So my question is: What is the bottleneck here?