move_base ~make_plan (nav_msgs/GetPlan) very slow [closed]

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When I use the make_plan service from move_base 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 pr2_2dnav)/pr2_2dnav.launch" />

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