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

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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 : https://www.youtube.com/watch?v=Q2yPO.... His solution was to increase the joint_state_publisherrate (https://answers.ros.org/question/3077...), 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.

Thanks,

Julien Audet