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How to improve the robot frame rate when using motion planning in rViz?

asked 2019-09-17 11:16:52 -0500

Julien Audet gravatar image

updated 2019-09-17 11:50:09 -0500

Hello there,

I am currently trying to get a better frame rate for the motion planning plugin in rViz. Right now, I have a frame rate of 1 or 2 Hz. Another user had the same problem, which looked like this : His solution was to increase the joint_state_publisherrate (, but in my code, I only use my own moveIt "robot"_planning_execution launch file, which loads multiple launch files (like robot_interface_simulator.launch, planning_context.launch and move_group.launch) and a robot_state_publisher node. Also, if I load a robot model in rViz, the frame rate is way faster than the motion planning plugin.

So my question is, how do I increase the frame rate for the motion planning plugin in rViz if I don't use a joint_state_publisher?

I am using kinetic with rviz version 1.12.17.


Julien Audet

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answered 2020-02-14 15:39:42 -0500

Julien Audet gravatar image

updated 2020-02-14 15:41:59 -0500

You can set it programmatically with :

rviz::Display moveit_display = rviz_manager_->createDisplay("moveit_rviz_plugin/MotionPlanning", "motion_planning", true);    
moveit_display->subProp("Scene Geometry")->subProp("Scene Display Time")->setValue("0.0001");

where rviz_manager_ is of type rviz::VisualizationManager.

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Asked: 2019-09-17 11:16:52 -0500

Seen: 518 times

Last updated: Feb 14 '20