move_group/monitored_planning_scene has low frequency

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Hi all,

I'm using Rviz to record the motion of collision objects that are attached and detached from the robot.

The attaching and detaching is working perfectly, but I'm however experiencing a lag when using move_group/monitored_planning_scene has "Planning Scene Topic". Using rostopic hz move_group/monitored_planning_scene I get that the topic is displayed with 4 Hz.

RobotModel has very smooth motion for the robot and /planning_scene has smooth motion for the objects as "Planning Scene Topic", but when using those settings the attached objects are not displayed..

Does anyone know how to increase the frequency of move_group topic, or some workaround for increasing the frequency of the displayed object in Rviz?

Thanks in advance!